Hmm, I just tried on my 15" 2016 MBP and in a quiet room I can just barely make out the left fan if I put my ear almost touching the keyboard. And by "barely" I mean I can hear an extremely faint whirr that I almost missed. From your description of your fans, it seems like you're hearing more than I am. This was done after ~1 hour of light browsing and the fans showed 2160rpm/2000rpm.It's super weird that I can hear the fans spin on 15" but not on the 2015 13"...
Can you hear the fans in idle in a quiet environment if you put your year close to the laptop?