If you are only allowed to use repmat and a for loop, you can do the following:
S = []; 
for idx = 1 : length(B) 
    S = [S repmat(A(idx), 1, B(idx))]; 
end
S is initially a blank array, then for as many values as there are in B (or A since they're both equal in length), simply concatenate S with each value in A that is repeated by the corresponding number in B.  S will contain the output.
By running the above example, I get:
S =
    19    19    21    21    21    25    25
However, I highly recommend you use more vectorized approaches.  I'll leave that to you as an exercise.
Good luck!