It should run hot under load, and the fans should kick in. When the load reduces, the heat reduces, the fan speed reduces.
All of this is working as designed.
The MBP case being aluminum makes it not comfortable when it gets hot.
Happens to my 2018 MBP as well. When the CPU starts operating around 95+ degC, the machine is quite toasty. But under normal load, the CPU hovers around 55-60 degC and it's perfectly fine on my lap, like right now.