See this article on Angels in Judaism. I extract an important part:
Assuming Human Form
There is some debate among the great Jewish philosophers whether the
angels that the Torah describes as appearing actually assumed a
visible physical form,(this is the opinion of Nachmanides, Genesis
18:1. ) or they appeared in the course of a spiritual vision or
prophecy—in which the angels appeared as physical beings,(the opinion
espoused by Maimonides, Guide for the Perplexed 2:42. ) According to
all approaches, however, seeing an angel requires extra-sensory
perception, as the bodies of the angels are not comprised of all the
basic elements of a physical being.
and see here - extract:
Real angels don't have bodies, wings, or one drop of physicality.
So the answer is nuanced: angels appear as physical brings without physicality.