They mean the same thing but: 1. Sue is having her cleaner sweep the garage - the emphasis is a bit more on Sue and her action of having someone do something 2. Sue's cleaner is sweeping the garage -- the emphasis is on the cleaner and its actions, Sue is just the person who has hired the cleaner

It’s very subtle, but the first sentence implies Sue has some control of the situation - as in, she’s told the cleaner to sweep the garage. The second sentence is more general. Sue may or may not have told the cleaner to do anything.

They mean the same thing and both sentences can be used. In the first sentence Sue is the main subject. While her cleaner is the minor subject. The opposite is true in the second example