That's rather hard to say - in order to really find out which one works better, you'd need to actually profile the execution times.
As a general rule of thumb, I think if you have indices on your foreign key columns, and if you're using only (or mostly) INNER JOIN conditions, then the JOIN will be slightly faster.
But as soon as you start using OUTER JOIN, or if you're lacking foreign key indexes, the IN might be quicker.
Marc