Which is the better sentence?

While either sentence is acceptable and both are easily understood, I prefer the second sentence. Since we are identifying the driver by name it makes sense to mention him first, followed by the dependent clause.

A Singaporean driver, Lee Hon Sing, who made regular road trips to Malaysia, expressed surprise at how little money he had to spend charging his car during the trips.

You could also write it this way:

Lee Hon Sing, a Singaporean driver who made regular road trips to Malaysia, expressed surprise at how little money he had to spend charging his car during the trips.

Many thanks, hightor, your suggestions!

Second one is correct.