Choose a program to display your CPU temp, fan speed, CPU % utilization over time. I would choose Gigabyte SIV but since your with Asus u need to use the Asus equivalent or MSI afterburner. Once you have the required info then u can look at any possible tweaks you can make like fan curve (from within bios or software). It would be ideal to adjust via bios but in my case I use speed fan meaning it runs 100% of the time to control fan speeds (I've given up on Gigabyte's SIV, the lack of flexibility was the last straw, and the bios is not as tweakable with regards to fan speed as others I've seen with a graph control in the UEFI part).
tl;dr more info needed.