Your question seems two folded to me. On one had you would like to compare two test frameworks, on the other hand you would like to implement tests easily, have natural assertions, etc...
Ok, firstly JUnit has been playing catchup with TestNG in terms of functionality, they have bridged the gap some what with v4, but not well enough in my opinion. Things like annotations and dataproviders are still much better in TestNG. Also they are more flexible in terms of test execution, since TestNG has test dependency, grouping and ordering.
JUnit still requires certain before/after methods to be static, which limits what you can do prior to the running of tests, TestNG never has this issue.
TBH, mostly the differences between the two frameworks don't mean much, unless your focusing on integration/automation testing. JUnit from my experience is built from the ground up for unit testing and is now being pushed towards higher levels of testing, which IMO makes it the wrong tool for the job. TestNG does well at unit testing and due to its robust dataproviding and great test execution abilities, works even better at integration/automation test level.
Now for what I believe is a separate issue, how to write well structured, readable and maintainable tests. Most of this I am sure you know, but things like Factory Pattern, Command Pattern and PageObjects (if your testing websites) are vital, it is very important to have a layer of abstraction between what your testing (SUT) and what the actual test is (assertions of business logic). In order to have much nicer assertions, you can use Hamcrest. Make use of javas inheritance/interfaces to reduce repetition and enforce commonality.
Almost forgot, also use the Test Data Builder Pattern, this coupled with TestNG's dataprovider annotation is very useful.