Headphone use with amp that doesnt support them?

I have a tube amp and pedalboard setup and would like to be able to play with headphones to not wake people up. My amp only has a 1/4 inch output. Is there a "headphone pedal" type thing I can add in to my pedalboard to allow me to have the output go into headphones instead of my amp? Also would I need higher quality headphones for the audio signal to not sound like trash? Apologies if this a dumb question but any help is appreciated. Thanks!