Real simple... get yourself an FM transmitter approx $50 they are used to feed audio from MP3 players or iPods so you can listen on a car radio..
I use one on my shure FP33 mixer o/p from "tape out" which is 3.5mm stereo socket.This leaves the XLRs to feed the camera.
It gives about 10-15m range and you can listen on a standard FM radio (and in stereo), runs on 2xAAA batteries and lasts about 6 hrs....
Works a treat!!!!!