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.
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.
And he took them, and sent them over the brook, and sent over that he had.
And Jacob was left alone; and there wrestled a man with him until the breaking of the day.
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.
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
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.
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
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?
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?
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.