Steam has streaming built right in. You literally just turn both machines on, start Steam on the PC connected to your TV, and you should see your library right there in the Steam client. You can just hit the ‘Play’ button and it’ll stream it directly. This is the easiest option. There is also Steam Link which is an even more paired down streaming client that runs in Big Picture mode and makes everything super easy.
Some people may say Moonlight or Parsec for a better experience, but that’s subjective. Steam Streaming directly is the simplest way to do it.