I would say the Alien is the most stealthy, Predators rely on technology and training to become great hunters and stalkers.
Aliens, however are naturally stealthy, depending on the breed.
Even though Predators have cloaking generators, Aliens can climb on ceilings and walls, something that the Predator is just to bulky to do.
Also, Predators have to switch from vision modes to see Aliens and Humans, whereas Aliens are naturally born with the pheromone ability.