Example:
I can’t help listening to his interesting speeches.
Meaning:
Pay / give attention to a sound. It’s an action that we do. We show some concentration and intention to the sound we perceive.
B. HEAR:
Example:
I was reading a novel when I heard a strange noise.
Meaning:
Perceive a sound. It is an event that happens to us. There is no previous intention and we show no interest / concentration.