The first query is easier to understand for MySQL so it is likely that the execution plan will be better and that the query will run faster.
The second query without the where clause, is a cross join. If MySQL is able to understand the where clause good enough, it will do its best to avoid cross joining all the rows, but nothing guarantee that.
In a case as simple as yours, the performance will be strictly identical.
Performance wise, the first query will always be better or identical to the second one. And from my point of view it is also a lot easier to understand when rereading.