STAR is better in most ways, from mapping accuracy to speed. The big caveat to STAR is that you need a good bit of RAM. For a nice objective look at STAR and other RNAseq aligners, I would recommend that you have a quick read through this recent and very thorough comparison from the RNA-seq Genome Annotation Assessment Project in Nature Methods (there's a similar comparison by the same collaboration for transcript reconstruction in the same issue).
BTW, the take-home message from that paper can probably be summed up from Figure 3 (the paper is open access, so this is a direct link)
Edit: Have a look at IV's answer as well. I hadn't mentioned Gsnap, but I can also say that it's always produced very good results if you have an annotation (this seems to be confirmed in the review that I linked to).