From the balanced equation, we see that the molar ratio of H2 to Al is 3:2. Since the problem states that the system is at STP, we know that there are 22.4 L per mol of gas. So, in setting up the stoichiometry we have:
(22.4 L H2/1 mol H2) (3 mol H2/2 mol Al) (1 mol Al/26.98 g Al) 4.32 g Al = 5.38 L H2 (to 3 sig figs)