Intelligent reflecting surface (IRS) is an emerging technology for future wireless communications including 5G and especially 6G. It consists of a large 2D array of (semi-)passive scattering elements that control the electromagnetic properties of radio-frequency waves so that the reflected signals add coherently at the intended receiver or destructively to reduce co-channel interference. The promised gains of IRS-assisted communications depend on the accuracy of the channel state information. In this paper, we address the receiver design for an IRS-assisted multiple-input multiple-output (MIMO) communication system via a tensor modeling approach aiming at the channel estimation problem using supervised (pilot-assisted) methods. Considering a structured time-domain pattern of pilots and IRS phase shifts, we present two channel estimation methods that rely on a parallel factor (PARAFAC) tensor modeling of the received signals. The first one has a closed-form solution based on a Khatri-Rao factorization of the cascaded MIMO channel, by solving rank-1 matrix approximation problems, while the second one is an iterative alternating estimation scheme. The common feature of both methods is the decoupling of the estimates of the involved MIMO channel matrices (base station-IRS and IRS-user terminal), which provides performance enhancements in comparison to competing methods that are based on unstructured LS estimates of the cascaded channel. Design recommendations for both methods that guide the choice of the system parameters are discussed. Numerical results show the effectiveness of the proposed receivers, highlight the involved trade-offs, and corroborate their superior performance compared to competing LS-based solutions.