I prefer the first one.
By giving the fields a more specific name than just Id or Name, it's easier to see that you are joining correctly, and you don't have to use aliases for the fields if you select fields from more than one table:
select s.StudentId, s.StudentName, m.MentorId, m.MentorName
from Student s
inner join Mentor m on m.MentorId = s.MentorId
vs.
select s.Id as StudentId, s.Name as StudentName, m.Id as MentorId, m.Name as MentorName
from Student s
inner join Mentor m on m.Id = s.MentorId
Also, the word Name is a reserved keyword in some databases (for example SQL Server), so it's not always practical to use as field name.