Could be normal venting of the fuel tank. I've noticed the same sort of thing over the years, especially if I get the bike nice and hot, then park it in the garage and immediately shut the door. No matter how much liquid fuel is in the tank, the rest of the space is filled with fumes. The heat from the engine is basically increasing the vapor pressure in the tank, and when that pressure reaches the limit of the bypass valve in the cap the valve opens and vents the excess pressure. On a California bike those fumes are vented to a charcoal cannister just like with a car; the other bikes just vent to atmosphere through a rubber line that goes from the fuel filler area to somewhere below the battery. So if you don't see any signs of an actual leak, I'm betting it's just hot fuel vapors being vented. If you're not sure, by all means have the dealer check it out.
Jerry