Alysse, you ask a good question. I believe that angels can take on the form of humans at their discretion. Most of the time they are unseen. They can also take on other forms of visible evidence, like the burning bush during Moses' time.
Are you familiar with the website BibleGateway? It is basically the bible reproduced on the internet, in every bible version available known to man. I like to link to it, giving instant access.
Here are some texts on angels
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