If compared, both of the sentences have a slightly different meaning.
a to-infinitive along with "want", an intention verb, would suggest that a person wants another person to do something in the future, while an -ing would emphasize that someone wants somebody to continue or stop doing something which depends upon whether you use a negative or affirmative auxiliary.
I don 't want you teaching my son that stuff [anymore/ever again]. ( " The end position adverbs certainly imply that the speaker wants you to stop
teaching her son [ since you have probably been teaching him for a
long while ] );
I don 't want you to teach my son that stuff [ever]. ( "implies a future event" );
Furthermore, we can use the past participle after an object. e.g.
I want the job finished by tomorrow!
You don't want him dead seeing that his parents will come after you.