Supposing there is only one row for an id in Table2 as in your example:
select
t1.ID, t1.Name, t1.PayAmount-coalesce(t2.PaidAmount,0) as BalanceAmt
from Table1 t1
left join Table2 t2 on t1.ID = t2.ID
where
t1.PayAmount-coalesce(t2.PaidAmount,0) > 0
order by t1.ID