The XLR outputs will not deliver significant power to the headphones. You'll need a headphone amp.
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I do it with my BAT VK-31se with pretty good results. You do not get super high volume and the highs are a little rolled off because the phones have a relative low impedance. Depends on your pre. The BAT has a pretty heathly output and has a single ended output as well as xlr. Recommend highest impedance phones (I use hd-600s, 300 ohms). Picked up an RCA to 1/4 stereo adaptor for the connection (radio shack). You problable will not find an XLR to 1/4 inch. You might need to get cardas xlr to RCA adaptors (female XLR to female rca).
Which preamp do you have?
Definitely worth a try.