From my understanding of angelic realms during my brief but awesome interactions (which may or may not be a product of some complex delusion, but anyway)... it seems like they are on a frequency sufficiently high that it doesn't make sense for them to incarnate to the lower human realm. It would be like us incarnating as astral low lives, or animals. Humans tend to keep being born as humans except for the odd one in 100 million who ascends.
The angelic realm certainly has great compassion for humanity and may interact with us through various forms, but it's not all sunshine and roses. There are many grimoires that go into great detail about angels who are ruthless and will curse you for summoning them. Angels outright incarnating here on earth? Doubtful. That places too much importance on being human. We exist on a much denser energy level than them, that of physical matter. All of the lower densities above us have a lot more influence and are a lot more high vibration. The lower the density, the higher the complexity. Becoming human is devolution. If you talk to anyone who does past life regression work without the koolaid, they'll tell you that they've never regressed someone back to a non-human life. Humans, for whatever reason, stay on a human trajectory. It also means that the whole Buddhist idea of this being a rare precious human life is also a load. You stay human until you've learned all the lessons, then you become something else, or you just escape the cycle. An angel has nothing to learn from being human and they can do more to "help" us from their frequency than diving into the muck with us down here.
That's not to say that there can't be really high level humans, and I think that's all that we are capable of interacting with here on the physical. Jesus, Buddha, Abraham, and the various prophets throughout history were divinely ascended people. They weren't angels though.
If you mean angels as in some kind of Bodhisattva, then that seems more possible. There are many tales of enlightened ones coming back to salvage others, but the difference is that they were originally human and then ascended and came back. Angels were never human and they don't "belong" here whatsoever. Again, that doesn't mean they don't care about humanity, but... so do many other beings. Most of the occult readings and grimoires on human incarnation I've dealt with indicate that you need special permission to incarnate into the human stream of lifetimes. You can't just come and go. If you become human you stay human because that's your work.
I'm sorry but every resource I know of, from the occult, to the real psychics I've met, to my own god given intuition tells me that angels don't come here. They remain non-material and affect us there, if they care at all. Everyone has holy guardians looking out for them, maybe you're just in touch with those.
