0.1V isn't a tiny signal. It's high enough not to worry too much about noise.
Is the voltage negative as well as positive?
What's the frequency? Does it go down to DC?
If it has a DC component then it can't pass through any capacitors.
It it can go negative, as well as positive, then you either need a dual supply or a bridged output, for DC, or AC couple, if it doesn't have any DC.
The best way to do this is to put the power transistors inside the feedback loop of an op-amp.
Here's an example of an op-amp with a couple of booster transistors. The diodes reduce the distortion by keeping the transistors slightly on all the time, otherwise there will be crossover distortion when one transistor turns on and the other off. Incidentally, this is a problem with the LM358's output stage.
