If you are walking down the street and someone is playing music, you hear the music.  You have no choice.  You can not stop your ears from hearing the music.   If, however, the music sounds really good to you, and you walk over to the source of the music and give your attention to it, then you are listening to the music.  Of course, at that moment you are also hearing the music, because if you can not hear the music, it is impossible to listen to it.

I just know listen the music and hear news,i feel that maybe listen is used on voice sometimes🤔🤔