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The 650 Burgman has similar engine braking to a normal motorcycle so doesn't allow you to coast as with the smaller engined models. This allows greater control in deceleration, especially in the wet. The coasting on the smaller models can be disconcerting for some, where brakes have to be used to slow down, so make the most of the 650 capability. The 650 will coast eventually at speeds of less than slow walking pace. From what you say consoder this as normal behaviour from the engine.
Drain the oil and refill with 18 ounces of fresh oil mixed with 6 ounces of Lucas gear lube and see if that helps. If a transmission is whining, not a lot you can do except rebuild it. Are you sure it's the transmission and not the final drive belt. If the final drive belt is loose, it will rise up and rub on the bottom of the inner primary when you let off on the gas and make a whining noise.
The bike has a bent shift fork in the transmission. You describe the classic symptoms. The engine will have to come out of the frame. Then it gets flipped upside down, right and left side covers, shift shaft, and other components are removed, then the bottom half of the gearbox is removed. This allows access to the shift drum and shift forks. There are some special tools needed and I don't recommend a novice mechanic tackles the job. Below is a diagram of how the shift drum moves the shift forks left and right to make a slider gear engage different gears. Please rate my answer. Thanks.
I would think that if the noise was being made by your transmission, it would start whenever you put the transmission in second gear and continue until you shifted to another gear, not at 19 mph only.
This sounds like a vibration that is specific to the engine rpm at that speed. It may sound like a grind but may actually be a vibration noise. Try to recreate the noise with the bike sitting still in neutral. Be careful not to allow the engine to overheat though.
Try other things to help you narrow down the source of the sound. When it starts, gently touch the brakes while maintaining the speed to try to eliminate the brakes. Does the noise change if you accellerated slightly or back off the throttle slightly.
It's very unusual for a transmission to make a noise in only one gear. I've found that if a transmission is making a noise, it makes the noise all the time but maybe louder at some speeds than others.