I had the same issue and I've resolved it.
My machine would frequently restart from the heat, sometimes just watching videos!
Typical heat would be 75-100C with frequent restarts, fans on 6000rpm constantly.
Firstly I bought a can of compressed air , opened up the mac and cleaned it with the air.
I have a 2009 model and there was a CRAZY amount of dust, all up in the fan and on the heatsink "Fin" that the fan blows the air through.
These two components must be cleared so the Air can get ejected.
I also keep my mac on a tilted stand to allow the air to flow up and back.
-----Doing this massively improved my heat but I still felt It was high
I installed SMC fan control and had it pretty much max speed at all times which helped a lot too but Id still be sitting on like 70-75C which was too hot for me
bearing in mind this was Idle.
Finally I decided to go at the CPU, I've read on different forums that the thermal paste gets old and stops working good.
I bought some cheap thermal paste, some rubbing alcohol.
Opened up the machine and removed the logic board, removed the heatsink.
Cleaned the heatsink, the GPU and the GPU with the alcohol.
Blew the crap out of everything with some compressed Air.
Applied the thermal paste to the CPU and GPU (using the spread method) and screwed the heatsink backdown.
Put it all back together again!
Right now my fans are running about the minimum 1999rpm and its resting at around 50C temp wise.
I just tried the "yes stress test" which spikes your CPU to 100% usage and as a result increases heat,
It got hot....like 80C at 100% CPU usage....no restarts as of yet....held that heat stable without really having to increase the fan speed,
When i manually increase the fan speed the heat drops a little.
Just realised how much I've written so as a conclusion.
Replace your thermal paste if your mac is an older model, You still have plenty of life in it.