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I like both, but in both cases, I think the third game is extremely underwhelming, especially Gears 3, which imo is extremely bland with awful level design and art style. Halo 3 is alright, but just a step down on every parameter.
Here is my ranking of the games, so Halo comes out on top.

Halo 2 > Gears 1 > Halo CE = Gears 2 > Halo 3 > Gears 3

I think the flexibility of the dual weapon system of Halo 2 is what sets it apart from other FPS games and makes it very replayable. I don't know why no other game has managed to implement that mechanic equally well. Halo 2 also easily has the best story out of all the games here, though Gears 2 also impresses.
Gears 1 was very ground breaking and was extremely refined, the gameplay loop just works.

Since the trilogies I think Gears has done better. Okay Halo Reach was incredible, and second only to Halo 2, but besides that it has been some rough years.
Controversially I find Gears 4 and 5 to be miles better than 3 and basicly on the same level as 2.