ERC-20 tokens are fungible tokens, meaning each token is the same as every other token and can be exchanged on a one-to-one basis. They are commonly used for cryptocurrencies and utility tokens. On the other hand, ERC-721 tokens are non-fungible tokens, meaning each token is unique and can have different values. ERC-721 tokens are typically used for collectibles, digital art, and unique assets in the blockchain space.