In Canon? There's literally no difference between the two. There's very, very little info about lightsaber forms in Disney Canon. And in all three of the Canon sources I can think of that mention Juyo and Vaapad, they're treated as "Form VII, Juyo/Vaapad" and no distinction is made.
In Legends, Vaapad is just a more "complete" version of Juyo. So it's "more powerful, versatile, better, and effective."