Well, it pretty much means the same thing, right?
I suppose you could have them both in the same sentence like.
"My mother reads to my child for me!" (ie. I'm busy doing something else). In that case, it's clear that the "for" doesn't mean I'm the listener, but I'm the beneficiary in some way. I think I'd say that like this in Swahili.
Mama yangu ana
kwa ajili yangu.
= My mother reads
to my child
for my sake.