When they are given visual description, or can otherwise have a visual description inferred (e.g. the three angels that visit Abraham are obviously human-shaped if he's about to treat them like human; the angels that the inhabitants of Sodom wanted to seize from Lot's custody were obviously human-shaped if they wanted to rape them), there are angels that are effectively human-shaped but with wings (sometimes they aren't recorded in Scripture as appearing with even those, as it is when they're described as "men" who aren't actually human). Angels and archangels are unambiguously this. Seraphs are presumably human-shaped-- not only can they pick things up with their hands, they use two of their six wings to cover their faces, and two more to cover their feet.
I said "humanoid" because they're not human despite sometimes being perceived with human shape, not because I was trying to use evasive language to make some convenient point.
You're describing the Cherub. I already mentioned the Cherub.
It's telling that you didn't recognize that I specifically mentioned what you're now describing.
I am not catholic nor christian. why would i ever have read the bible? but if you really wanna get into this...
Isaiah 6:2
"Above him stood the seraphim. Each had six wings: with two he covered his face, and with two he covered his feet, and with two he flew."
Seraphim are depicted as covering their hands and feet here, most interpretations of religious professors and scholars that I have personally spoken to have told me this is because their true angelic forms (they implied this was for all angels) were not something that could be comprehended by mortal minds, and thus they covered them with their wings as best they could to not drive mortals insane upon viewing them.
Ezekiel 1:5-9
"And from the midst of it came the likeness of four living creatures. And this was their appearance: they had a human likeness, but each had four faces, and each of them had four wings. Their legs were straight, and the soles of their feet were like the sole of a calf's foot. And they sparkled like burnished bronze. Under their wings on their four sides they had human hands. And the four had their faces and their wings thus: their wings touched one another."
These would be the cherubim yes? yet in Ezekiel 10- 8 The cherubim appeared to have the form of a man’s hand under their wings. As for the form of their faces,
each had the face of a man; all four had the face of a lion on the right and the face of a bull on the left, and all four had the face of an eagle. Sure sounds humanoid to me what with the animal faces and calf feet from earlier.
then we have:
Revelation 10:1
"Then I saw another mighty angel coming down from heaven, wrapped in a cloud, with a rainbow over his head, and his face was like the sun, and his legs like pillars of fire." Ill grant you this one is human shaped but its legs were made of fire, a rainbow concealed its head along with a radiance of the sun that you can not look at.
Unless I missed one, which fair i could have, these are from memory (god i hated college), these were the only physical descriptions of angels in the bible.
Now this isn't to say when sent as messengers on earth in human guise that they can't take on a human skin suit but that is NOT their true form, it is the form they take while on earth, to do their job.