Similarities: both use animals and their charateristics symbolically to represent various themes, both use rhetorical questions that cause the reader to stop and consider the theme, and both address the power of the divine.
Differences: Lamb speaks to the beautiful side of human nature, the tyger to the the darker side of human nature. The lamb represents the ideal image of a person's nature, while the tyger represents the reality of what is. One is the perception of good, the other of evil.