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This can be an Android OS or driver bug, or it can be the correct behavior in the case when the MIDI Controller/Keyboard is also an USB Audio Interface. In either case, the USB device is connected as an USB Audio interface and therefore the audio output is routed to the USB interface rather than the speakers/headphones.
The only workaround is to override the unwanted audio routing in use of an app that can do the re- routing, such as Lesser AudioSwitch.
Get the Lesser AudioSwitch App from Google Play: https://play.google.com/store/apps/details?id=com.nordskog.LesserAudioSwitch
Once installed, follow the steps below:
1. Launch G-Stomper
2. Plug in MIDI keyboard (and grant permission)
3. Launch Lesser AudioSwitch
4. Select the desired output
6. Go back to G-Stomper