I want (动词)
you (宾语)
to speak to him (不定式) [the first "to" proceeds the infinitive; the second "to" initiates a prepositional phrase]
----------------------
Father doesn't allow (动词) [or:Father didn't allow]
us (宾语)
to play outside (不定式) ["outside"is an adverb to modify the infinitive "to play"]
----------------------
There's no significant difference in structure between the two sentences.
Period