When we say angels what comes into the mind of people is a being with a wing who can fly but it is not so. Angel in Greek and Hebrew languages mean messenger, so when we say angel of Satan we means a messenger of Satan likewise angel of God mean messenger of God.

In fact the scripture is replete with examples of man having encounter with angels.

Jacob wrestled with a heavenly being specifically an angel yet he saw him as a man, meaning the appearance of angels is as a man. 

Genesis 32:22-25,28

[22]And he rose up that night, and took his two wives, and his two womenservants, and his eleven sons, and passed over the ford Jabbok.

[23]And he took them, and sent them over the brook, and sent over that he had.

[24]And Jacob was left alone; and there wrestled a man with him until the breaking of the day.

[25]And when he saw that he prevailed not against him, he touched the hollow of his thigh; and the hollow of Jacob’s thigh was out of joint, as he wrestled with him.

[28]And he said, Thy name shall be called no more Jacob, but Israel: for as a prince hast thou power with God and with men, and hast prevailed.

The only winged creatures Bible tells us of are the Cherubim and Seraphim. Let’s see the scripture

Isaiah 6:2

[2]Above it stood the seraphims: each one had six wings; with twain he covered his face, and with twain he covered his feet, and with twain he did fly.

Exodus 25:20

[20]And the cherubims shall stretch forth their wings on high, covering the mercy seat with their wings, and their faces shall look one to another; toward the mercy seat shall the faces of the cherubims be.

So that said we must understand that when the Bible makes use of angel it is not a being with wings that should come into your mind. A mighty angel appeared to Joshua yet Bible says he saw a man

Joshua 5:13-15

[13]And it came to pass, when Joshua was by Jericho, that he lifted up his eyes and looked, and, behold, there stood a man over against him with his sword drawn in his hand: and Joshua went unto him, and said unto him, Art thou for us, or for our adversaries?

[14]And he said, Nay; but as captain of the host of the LORD am I now come. And Joshua fell on his face to the earth, and did worship, and said unto him, What saith my lord unto his servant?

[15]And the captain of the LORD’S host said unto Joshua, Loose thy shoe from off thy foot; for the place whereon thou standest is holy. And Joshua did so.