I am listening to the radio and I hear a girl singing on the radio. This use of listen and hear in this sentence is correct. However, the sentence could be phrased more naturally as "I am listening to the radio and I hear a girl singing." You could even split them into different sentences. "I am listening to the radio. I hear a girl singing on the radio." Is this sentence correct? Hope that helps!

listen 是听这个动作”去听”，听到没有，不知道； hear 是听见什么的听，听到的内容。中文里其实也是有区别的，只是中文会用辅助的词，听见，听到，听清，，譬如说：好像门外有说话的声音，我竖起耳朵使劲听(listen)，还是没听(hear)清说的是什么？

纠正一下你的英文问题： what's the difference between "listen" and "hear"? and how to use it? is this sentence correct? or is this a correct sentence? or is this the correct way to use them?