What is PNG?
PNG is the web's lossless image format: compression that never degrades the picture, and a real alpha channel for transparency. It is the right choice for screenshots, logos, line art and anything with sharp edges or text.
What is ICNS?
ICNS is the macOS icon container - what sits inside an .app bundle. Since Lion it stores its images as ordinary PNGs at a handful of sizes, which is why reading one means picking the biggest member and writing one means rendering several.