The most efficient way might well be to do it lazily.
As with anything collection-oriented, Scala 2.12 and 2.13 are going to be different (this code is Scala 2.13, but 2.12 will be similar... might extend IndexedSeqLike, but I don't know for sure)
import scala.collection.IndexedSeq
import scala.math.Numeric
case class SumIndexedSeq[+T: Numeric](seq1: IndexedSeq[T], seq2: IndexedSeq[T]) extends IndexedSeq[T] {
override val length: Int = seq1.length.min(seq2.length)
override def apply(i: Int) =
if (i >= length) throw new IndexOutOfBoundsException
else seq1(i) + seq2(i)
}
Arrays are implicitly convertible to a subtype of collection.IndexedSeq. This will compute the sum of the corresponding elements on every access (which may be generally desirable as it's possible to use a mutable IndexedSeq).
If you need an Array, you can get one with only a single traversal via
val arr3: Array[Int] = SumIndexedSeq(arr1, arr2).toArray
but SumIndexedSeq can be used anywhere a Seq can be used without a traversal.
As a further optimization, especially if you're sure that the underlying collections/arrays won't mutate, you can add a cache so you don't add the same elements together twice. It can also be generalized, if you so care, to any binary operations on T (in which case the Numeric constraint can be removed).
As Luis noted, for a performance question: experiment and benchmark. It's worth keeping in mind that a cache implementation may well entail boxing every element to put in the cache, so you might need to be accessing the same elements many times in order for the cache to be a win (and a sufficiently large cache may have implications for the stability of a distributed system).