It really depends on what you wnat for a look, and what you want to spend. Neither one is "better" than the other if constructed correctly. Each has it's pros and cons. Assuming that the construction has been top notch, concrete will be more expensive because of the formwork, reinforcing, and multiple pours necessary to give best assurance that cracks will be minimal, and only where joints have been tooled or sawn. Asphalt does not require the forming and jointing. The base and sub-base constructione for each is not all that different, so the difference really is in the surface. Concrete is a rigid surface. Asphalt is a flexible surface, although falling on it will not reveal that characteristic.