These two words are similar to "although" in meaning and use. The only difference between them is that "固然" could only be put after the subject, while "虽然" could not only be put after the subject, but also in the first place of a sentence. For example,
1)学校教育固然很重要,也不能忽略家庭教育。
2)虽然学校教育很重要,也不能忽略家庭教育。