Using the each syntax will prevent the entire set of keys from being generated at once. This can be important if you're using a tie-ed hash to a database with millions of rows. You don't want to generate the entire list of keys all at once and exhaust your physical memory. In this case each serves as an iterator whereas keys actually generates the entire array before the loop starts.
So, the only place "each" is of real use is when the hash is very large (compared to the memory available). That is only likely to happen when the hash itself doesn't live in memory itself unless you're programming a handheld data collection device or something with small memory.
If memory is not an issue, usually the map or keys paradigm is the more prevelant and easier to read paradigm.