This works for me:
- Open device manager and uninstall any devices with a name of your AirPods in the following sections: "Audio Inputs and Outputs" / "Bluetooth" / "Sound, Video and Game Controllers"
- Restart your computer
- Reset your AirPods (Open the case and hold the button on the back until and amber light comes on and then goes white again - About 10 seconds)
- Pair your AirPods with your computer again