Both API Gateway and Cloud Endpoint are used to manage your APIs: you create APIs to be hosted on GCP and to be consumed by others.
API Gateway is a relatively new offering.
The key difference:
<ul>
 <li>API Gateway: fully managed by Google (based on Envoy), while</li>
 <li>Cloud Enpoint: you need to manage your own. Google just provides a software package called Extensible Service Proxy, or ESP. (ESP v1 based on NGINX and ESP v2 based on Envoy) and you need to deploy it.</li>
</ul>
Google Cloud API Gateway reduces the complexity of deploying and managing APIs, and it is comparable to Amazon API Gateway and Azure API Management. I would not be surprised if Cloud Enpoint is deprecated some day.

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