In the past they have been used with each other's meanings, but these senses have now fallen out of use. Just part of the way language changes - they used to overlap more, but now they don't, and there may not be any particular reason why.
An example from a letter of George Washington to Alexander Spotswood (24 September 1798):
I shall depend upon your Overseer, Roger Farril, for my Mansion house concern; and Brookes Joiner, to overlook my Carpenters.
Scanning through the rest of the letters, he seems to use "overlook" for "oversee" fairly often - even, as here, in the same letter.
And for the reverse, from the play The Way of the World by William Congreve (1700):
'Twas for my ease to oversee and wilfully neglect the gross advances made him by my wife, that by permitting her to be engaged, I might continue unsuspected in my pleasures, and take you oftener to my arms in full security.
Neither of these senses are current in English any more.