You can use the miniplug to coax rca adapter from the spdif digital out to get 5.1 sound. You just have to select spdif passthrough in your creative audigy2 settings. Your receiver will do the decoding for any digital source code, as others have said. Analog sources will be played in whatever format they are coded in, whether it is 2.1, Pro Logic, Surround, etc.
If you want 5.1 cd sound, I'm pretty sure you can unselect spdif passthrough and tweak for 5.1 sound in the media software. Whatever the Audigy2 does to create 5.1 sound from a CD is then passed on to your receiver. I need to double-check this, as I think I'm getting 5.1 sound from music CD's even though I always have passthrough selected. (I know for a fact I'm getting 3.1 sound from center, R,L and LFE).
Chiz
Edit: About your original inquiry about using the 3 outputs. You can only do this if you have 5.1 channel input on your receiver. My receiver has it, but I don't recommend it. Not only is it expensive (3 x miniplug to RCA adapters), but your receiver won't be doing the decoding. It'll essentially be emulated DD as each mini-out sends a signal that then goes to 2 channels (its like 3x Dolby Pro Logic). Its much cheaper (and you get true 5.1 sound) to use the spdif optical out and the coax in on your receiver.