INSERT INTO table1
SELECT t2.col1,
t2.col2
FROM table2 t2
LEFT JOIN table1 t1
ON t2.col1 = t1.col1
AND t2.col2 = t1.col2
WHERE t1.col1 IS NULL
Uso alternativo, exceto
INSERT INTO @table2
SELECT col1,
col2
FROM table1
EXCEPT
SELECT t1.col1,
t1.col2
FROM table1 t1
INNER JOIN table2 t2
ON t1.col1 = t2.col1
AND t1.col2 = t2.col2
Alternativa usando Não existe
INSERT INTO table2
SELECT col1,col2
FROM table1 t1
WHERE
NOT EXISTS( SELECT 1
FROM table2 t2
WHERE t1.col1 = t2.col1
AND t1.col2 = t2.col2)