TIP122: like all power darlingtons, pretty much obsolete these days. Darlingtons have high saturation voltage, so at high currents (e.g. > 1A) they dissipate too much power and a mosfet is a much better choice. At lower currents, a normal NPN transistor will do the job with less power dissipation, if you choose an appropriate transistor.
ULN2003: it has darlington outputs too, so has the same problems as the TIP122. Its redeeming feature is that it integrates eight transistors plus base drive resistors into a single package. However, if you try to sink more than about 70mA from each of the 8 outputs at the same time, it it likely to overheat because of the relatively high saturation voltage.