According to Judaism,Christianity and Islam and The Holy Scriptures Angels can appear and come down from the Heavens to Earth in a very physical form.
Other beliefs say that Angels come only in a Spiritual Form only as a Guardian Angel or God given tasks to do His will.
But depends on what people mean by the term Angel.
Angel can mean the Holy Winged Human-like Being that is of Heaven and serves God.
Another term can refer to a Mortal Human like you and me and is used to describe the purity and goodness with which we radiate all around us.
However I am sure you are referring to the Winged kind and as such anyone can give you an answer which can be same or different including being expressed in different words with the same meaning.
I can say that I believe They can.
Another person replying to the thread can say they only believe that Angels come only in a Spiritual form.
In the end it's all which of the two we believe in.