Problem with laptops is how close everything is, my family used to have 3 laptops, non Asus but they all suffered the same issue, first time they overheated they never stopped, 2 of them were due to the graphics card becoming so hot it actually warped the cooling fan so although it seemed like it was spinning it barely ever did

Normally steps would be

1. Ensure cooling fan is actually spinning
2. Ensure all cooling pathways are unrestricted
3. Set Microsoft power plan to be balanced so the laptop isn't running 100% all the time

And never use the laptop on soft surfaces like carpet or bed covers, sometimes even being on a lap depending on the pants being worn can restrict it