I like the Cefiro, but a 3 liter V6 will make you the local gas stations' best customer. I have to admit, though, that there's not much out there that's as smooth or as silent as the VQ engine. It's the kind of engine that your driver may accidentally start twice if he's not paying attention.
The Camry is a newer design, has a more fuel efficient engine, and it's got great interior comfort. It's the better choice here, if the prices are the same.