Is there a way in Telethon to get messages from chats along with the sender name, date and time?

Yes. And everything is explained in the docs, looking through it or simply searching for messages leads you to iter_messages.

Below the list of arguments the function takes, you have the instance the method returns. As an example:

# From most-recent to oldest
async for message in client.iter_messages(chat):
    print(message.id, message.text)

# From oldest to most-recent
async for message in client.iter_messages(chat, reverse=True):
    print(message.id, message.text)

# Filter by sender
async for message in client.iter_messages(chat, from_user='me'):
    print(message.text)

# Server-side search with fuzzy text
async for message in client.iter_messages(chat, search='hello'):
    print(message.id)

# Filter by message type:
from telethon.tl.types import InputMessagesFilterPhotos
async for message in client.iter_messages(chat, filter=InputMessagesFilterPhotos):
    print(message.photo)

# Getting comments from a post in a channel:
async for message in client.iter_messages(channel, reply_to=123):
    print(message.chat.title, message.text)

The returned Message instance has these attributes and methods you can use:

message.date - The UTC+0 datetime object indicating when this message was sent. This will always be present except for empty messages.

message.get_sender() - Returns sender but will make an API call to find the sender unless it’s already cached.

So given all of this you have:

async for message in client.iter_messages(chat):
    date = message.date
    sender = await message.get_sender()
    name = sender.first_name