Import-Package
should be better because, as previously said, you can move a package from one bundle to another without changing existing client's MANIFEST.MF
But...
There is a practical reason to use Require-Bundle
if you are using Eclipse to develop your bundles:
Eclipse don't use packages as units of resolution. It uses bundles. That is, if you use one package of a bundle, Eclipse compiles your bundle without reporting any problem with the use of the rest of packages not imported from that bundle.
You could (you are human) think that everything is OK and upload your bundle for deployment but ... your bundle will break at runtime.
I'm sure about it because this problem has happened (to me!) today.
The good solution would be to change the Eclipse classpath container but... if this is not going to be done... you could decide to avoid this kind of problems requiring bundles, instead of packages, paying the mentioned price (no backward compatible code movement between bundles).