Do angels come down from heaven to earth?
Angels ascend and descend from heaven as noted in both Old Testament and New Testaments.
"Then he [Jacob] dreamed, and behold, a ladder was set up on the earth, and its top reached to heaven; and there the angels of God were ascending and descending on it" (Genesis 28:12).
"And He said to him, "Most assuredly, I say to you, hereafter you shall see heaven open, and the angels of God ascending and descending upon the Son of Man" (John 1:51).