Both sitemap are important on website Html -: sitemap use for user Xml -: it is use for search engine.
Both are better. HTML is for user purpose and XML for Google. you need HTML site map becouse you creating your site for business purpose and without good navigation you will not get enough traffic.so you need to make HTML site map. XML Site map: for google, if you want ranking in google your site pages should be cached. so you can not compare which one is good or bad, it will really good if you create both sitemap.
Both kind of sitemap have own purpose such as XML sitemap for Crawler, crawler crawl website with better way due to XML sitemap and also get soon index. HTML sitemap for visitors, with the helpful of HTML sitemap visitors can find any page which they want.
Xml is better for search engines to craw your site. And HTML i better for site visitors. You can use boat of them.
I use xml sitemap for my site and i think xml sitemap is best for site. if you use html it will visible as webpage so it would be good that you made sitemap in xml.