MacBook Pro 15" Touch Bar running hot
The normal operating temperature range for silicon is much higher than is comfortable to the touch.  The heatsinks &amp; fans are directly below the top of the keyboard along the hinge opening.  I too have found the upper edge of my MBP to be uncomfortable to touch -- typically when I'm debugging using the F() keys.
My recommendation would be to use a product that allows you to manually adjust the fan speed in order to run the fan at a higher-than-minimally-necessary speed to lower the temperatures accordingly.
I personally use iStat Menus.  In that tool, under 'sensors' is a button to 'Edit Fan Rules'.
Incorporating feedback from the OP to create a more comprehensive answer:
Alternatively, if you believe you may have a hardware issue, a trip to the Apple store might be warranted.  The OP had a hardware issue that, while mitigated by the iStatMenus approach, really required a hardware solution, including multiple trips to the Apple store, to ultimately resolve.