This really depends on whether or not you have true 5.1 speakers. See the "disclaimer" at the end of the post.
If you have true 5.1 speakers, here's how you can configure pulse to take full advantage of all five of your speakers and your subwoofer:
From etc/pulse/, copy daemon.conf and default.pa to your user's home folder. (If you've altered these configs previously, copy from your backup of the original files):
cp /etc/pulse/daemon.conf ~/.config/pulse/daemon.conf
cp /etc/pulse/default.pa ~/.config/pulse/default.pa
Add the following line to ~/.config/pulse/default.pa:
load-module module-combine channels=6 channel_map=front-left,front-right,rear-left,rear-right,front-center,lfe
Add (or uncomment) the following lines in ~/.config/pulse/daemon.conf:
remixing-produce-lfe = yes
remixing-consume-lfe = yes
lfe-crossover-freq = 80
Without the lfe-crossover-freq defined, it defaults to 0, which is not very helpful.
You can replace 80 with the desired crossover frequency (in Hz). Frequencies below this value will be sent to the LFE channel. Frequencies between 80Hz - 120Hz are generally recommended for the LFE crossover.
To enable the new settings, restart pulse with pulseaudio -k. Some applications could require a restart.
For 7.1 speakers and other configurations, the Arch Wiki has extensive PulseAudio documentation as well as dozens of examples.
Disclaimer: This answer only applies if you actually have 5 true speakers and one true LFE (subwoofer). If your surround sound is "virtualized" using only two speakers, this is a software feature and not a hardware feature that can just be enabled.
In the case of "virtual" surround sound; if you need to download and install software from the manufacturer to get the feature to work on Windows, you will probably need to do the same on Linux/Ubuntu. If they only produce software for Windows, that means the manufacturer does not support the product's software features on Mac or Linux.
Also note that there are many ways to connect audio equipment and they are not created equally. Getting 6 distinct channels from your PC to 6 distinct speakers requires compatible DAC, ports, and cables. For example, the 3.5mm headphone port on your laptop is simply not capable of true 5.1 output, even though it can carry encoded streams like Dolby Digital.