There are a lot of factors to consider, but I think the simplest solution would basically boil down to an op amp in a non-inverting configuration with a fixed gain. If you need higher current, you may need to add a buffer in front of it.
Also keep in mind that if you run an op-amp on a regular 5V supply, it will not swing all the way to 5V, but will come pretty close depending on what you use. If this is just an amplifier for an ADC or something like that, this may be acceptable. If you absolutely need the voltage to swing all the way to 0 and 5 volts and not just as far as the op amp will swing for a 5V supply, you may need a positive supply rail higher than 5V.
What is the application?