In this context representations are completely determined by their character, so two $G$-sets $M, N$ have this property if and only if the number of fixed points of any $g \in G$ acting on $M, N$ are always the same. 

Triples $(M, N, G)$ with this property are called <a href="http://en.wikipedia.org/wiki/Gassmann_triple">Gassmann triples</a>. They were famously used by Sunada to construct pairs of isospectral but not isometric Riemannian manifolds, and can also be used to construct pairs of isospectral (have the same zeta function) but not isomorphic number fields. Ben Webster has a nice pair of blog posts on the subject <a href="http://sbseminar.wordpress.com/2007/08/29/zeta-function-relations-and-linearly-equivalent-group-actions/">here</a> and <a href="http://sbseminar.wordpress.com/2007/09/19/laplacian-spectra-and-linearly-equivalent-g-sets/">here</a>, and the Wikipedia article has references.