use strict;
use warnings;

my @arrays = (
   [ qw( A 1 2 3 4 5 ) ],
   [ qw( B 1 2 5 6   ) ],
   [ qw( C 2 3       ) ],
);

my %actors_by_role;
foreach my $array (@arrays) {
   my ($actor, @roles) = @$array;
   foreach my $role (@roles) {
      push @{$actors_by_role{$role}}, $actor;
   }
}

my @roles = sort keys %actors_by_role;

foreach my $role (@roles) {
   print(join("\t", $role => sort @{$actors_by_role{$role}}), "\n");
}