Depends on the model and how it is optioned.  One thing with Toyota’s:  you don’t need to change timing belts (they have timing chains)  or adjust the valves.  Also, Toyota’s have port injection (in addition to GDI) whereas Honda’s have GDI only and over time have to clean the carbon buildup on back of intake valves (which is $$);  with Toyota’s you don’t have to worry about that added maintenance.  Certain Honda engines also have cylinder deactivation, whereas Toyota does not have that nonsense technology.

If it were my money, I’d go Toyota over Honda.

IMHO, for the most part, about mid 2000s onward maintenance should be about the same for 4 cylinders of both makes, because they both use timing chains. It will be more for 6 cylinder Hondas than Toyotas because Hondas still use timing belts. 

Going based off of my personal experience of owning both brands I think they cost pretty much the same when it comes to maintenance. It definitely does depend on the specific vehicles you are wanting to compare, but generally there isn't much difference.