You fuel is expanding after being warmed up by the heat from the engine and the fuel overflows due to a natural phenomenon defined as thermal expansion. As the gasoline heats up, it's volume will increase in proportion to the increase in temperature. The same thing will happen with the fuel tank itself, but for solids the volumetric expansion coefficient is much lower in comparison to the expansion coefficient of a liquid. As such, if the tank is filled to the top with fuel, and it heats up, it is most probable that the fuel will expand and overflow from the tank. If opening the fuel cap stops it, then that is the culprit. It may be your overflow tube is kinked (bottom of lower fairing- look for fuel/ the smell of fuel after your ride) and that may be the source of the sound. But i agree it's not "boiling", LOL. One piece of advice- try not topping of the tank when refueling- maybe 5mm below the lip of the tank opening.