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MSK = Minimum Shift Keying, it's frequency shift-keying with modulation index 0.5 ( frequecy variation from carrier is half the symbol frequency, and this makes orthogonal waveforms for 0 and 1 in binary for example...)
QPSK= Quaternary Phase shift-keying, so phase is involved and its variation....
Here are two large explanations and with more references in the end:
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