First off, Cross-talk cancellation is actually a dangerous term here since it doesn't imply what type of crosstalk is meant, what you most likely mean is a 100% left-right channel separation. This is theoretically impossible, and I will explain why.
If what you are looking for is creating a wider impression than a stereo loudspeaker setup: The pseudo-surround (which in my opinion should never be associated with 5.1, both are surround techniques, and both are completely different) that a stereo set of loudspeakers 'implicate' is done by a technique that hasn't anything to do with HRTFs: it is done simply by doing magic tricks with the phase of the signal. If you listen to a well aligned pair of studio monitors, you can center a signal by putting it on both loudspeakers in phase. (0º). You can completely move it out of the loudspeaker base by inverting the phase of one of the speakers. (If your setup is correct, you won't be able to tell where the sound comes from.) You can move the source to the left by gradually decreasing the level of the right loudspeaker. The leftmost you can get is at the left loudspeaker, namely when you silence the right speaker. Now, if you put the same signal in counterphase (180º / inverted / ø) and gradually increase the level of the right speaker, the sound will move even further to the left. (i.e. sounds like it is further left than your left loudspeaker.) They never try to accomplish a 100% channel separation.
The reason why you can't separate channels acoustically is because the air the sound travels through is shared by both ears. (When listening to headphones, it is not, each small speaker has its own "environment".) You could be able to influence the sound that reaches your left and right ear with loudspeakers entirely, under two conditions:
- You can never move, turn or tilt the head, not even half a centimeter
- You must be in a room that has no reflections, since reflections reproduce the sound from an arbitrary direction.
The first condition is highly unwanted, but the second is completely impossible. (Unless you are in a dead room, but that is not where I normally am when listening for my own pleasure.)
Another technique that comes to mind being potentially useful for reproducing binaural stuff with loudspeakers, is Wave field synthesis. Unfortunately, getting a working WFS setup is very very very expensive.
Bottom line: why don't you just listen to your HRTF sounds using earphones? That's what they are for anyway.