Roughly said, max torque indicates the peak efficiency of the engine, and rpm shows precisely at which rpm you will get it.
242 to 250 is no difference, these 3% will never show up.
Both engines are modern designed V6-24, and when I compare with the 3.5L
V6 from Renault, performance figures are pretty similar.
The difference however is in the rpm at which max efficiency is achieved, 3,600 for the Sienna and 5,000 for the Odyssey (w/standard VTEC engine).
This indicates that the Toyota has a smaller bore to stroke ratio (= a longer stroke) than the Honda (= shorter stroke).
Result: to keep the same road speed, the Honda will have turn faster.
Normal accelerations while driving, eg. from 40 to 60mph, should be better with the Toyota while it would require a kickdown with the Honda to reach high rpm values.