Streaming DVDs from iCloud through AppleTV
There are no direct solutions. However, you could consider a service like Plex (Link) this would allow you to create a Plex server with your media and stream it to several devices.

I have used plex for many years and it has worked perfectly for me. The service has some fees but they aren't massive and it will allow you to stream the content both to your tv and other apple devices with the Plex app.

You will need to bare in mind the CPU and GPU cost. Plex won't run well on a laptop you'll need a desktop of some form so Plex can transcode the videos for you to watch.

Download Plex server here.

Hope this helps!