There’s no shortage of amps meeting your requirements from Carvin, Crown, QSC, Crest, Peavey, Behringer etc., just pick one.
That said, it’s likely that your receiver does put out enough voltage to drive the amp. The manufacturer’s ratings are often grossly off. I’ve seen models rated a 1 volt actually able to put out 4, for example.
But even at only 1 volt, that should have been enough to get that amp cranking to at least a respectable level. The fact that it wouldn’t even get off-idle with a huge signal boost tells me there was something wrong with it (Behringer does have a comparatively high failure rate).
Either that or your receiver just wasn’t putting out a signal, either do to an internal setting in the menu (e.g. subwoofer enabled or the sub gain trimmed all the way down), or it’s simply malfunctioning. Does it work with other more traditional self-powered HT subs?
Regards,
Wayne A. Pflughaupt