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KOTOR2 is a great sequel and an improvement in all aspects over KOTOR. The story is more nuanced, better written, and more mature; it explores gray areas rather than the first game's clean-cut light/dark decisions. Also, Kreia is a real highlight, as she constantly challenges you throughout the game and tries to make you think critically about all the decisions you make. The rest of your companions are also more fleshed out, and some characters from the first title make a return. In general, the tone is much darker and bleak, as the Jedi Order is in ruins, and you, playing The Jedi Exile, are hunted by the Sith as one of the few remaining members of the Order. The villains are also a bit more ambiguous in their motivations, and their powers are somewhat more interesting than what you usually get. Plus, I feel the game is much more dialogue-focused than the first, with more time for introspection and fewer combat encounters, which for me is one of KOTOR2's strengths, as combat wasn't all that great in the original (also combat is not all that amazing in this one).
Gameplay-wise, there are more Force powers available, and there are lightsaber forms you learn throughout the game (giving you bonuses and penalties, but each form excels in certain situations, thus making fights more strategic). You can now craft upgrades for your weapons and armor based on your (or your party members') skills, and you can also break down items to create components, meaning it is useful to grab everything you find. Your dialogue options now influence your party members, they gain or lose influence based on your actions (high influence will make a companion's alignment match yours, low influence companions will have an alignment opposed to yours), plus the alignment will also unlock more story bits/background information from your companions. As a minus, the combat and the camera can feel clunky at times, as the game seems to not register all your commands properly.
The biggest downside to KOTOR2 is that the development was a bit rushed, with some cut content, and you'll need a mod (TSLRCM) to fully experience the game. You can download the mod here: https://deadlystream.com/files/file/578-tsl-restored-content-mod/. You can also find a list of everything it restores here: https://deadlystream.com/topic/139-whats-restored-in-tslrcm/ and you can decide if you want to install it or not (I feel the game's more enjoyable with the restored content).
Overall, KOTOR2 is my favorite Star Wars game, as the narrative's more thought-provoking, the game has more of a philosophical tone, and you feel your decisions have some weight behind them.