There are so many improvements. I think you can find out a lot about improvements if you do a search with the keywords PSR740 and PSR2000 (or PSR 740 and PSR 2000) at this website. The PSR2100 is a small improvement over the PSR2000.
You get a lot more Sweet! voices, plus you get a lot of Live! voices and some Cool! voices with the PSR2100.
I play the PSR2100, and I used to play the PSR740, and in comparison, the PSR740 is a toy. For its time, it was a very good keyboard, but it is very limited in comparison to the PSR2100.
Beakybird