Namecoin can be used for name resolution with Tor. Several guides are available for setting this up, depending on your choice of software.

Guides

Want to decide for yourself? Read on:

Should I use ncprop279 or dns-prop279?

Average users are probably better off with ncprop279.

dns-prop279 is more flexible, since it can access .bit domains that delegate to nameservers or otherwise require a recursive resolver. However, that flexibility can be a footgun since recursive resolvers will typically cause proxy leaks. dns-prop279 also requires a DNS server (e.g. ncdns or Unbound), whereas ncprop279 operates without a DNS server. ncprop279 is substantially smaller in binary size than dns-prop279 combined with ncdns.

Should I use StemNS or TorNS?

Average users are probably better off with StemNS.