There are very many programs that can do what you wish. YOu do not need one that is specific to your PSR-2100.
Look at Sibelius and Finale for deluxe versions of scoring software. There are less expensive packages that concentrate mainly on editing your work, such as Cakewalk and PowerTracks, but they can also create scores.
If you search for reviews of these products you'll find many others, too.
Kawai GS-40 grand with midi-out, Yamaha PSR synths