Genesis 21:17
God heard the lad crying; and the angel of God called to Hagar from heaven and said to her, "What is the matter with you, Hagar? Do not fear, for God has heard the voice of the lad where he is.

Genesis 31:10-13 NASB95 - "And it came about at the time when the flock were mating that I lifted up my eyes and saw in a dream, and behold, the male goats which were mating [were] striped, speckled, and mottled. "Then the angel of God said to me in the dream, 'Jacob,' and I said, 'Here I am.' "He said, 'Lift up now your eyes and see [that] all the male goats which are mating are striped, speckled, and mottled; for I have seen all that Laban has been doing to you. 'I am the God [of] Bethel, where you anointed a pillar, where you made a vow to Me; now arise, leave this land, and return to the land of your birth.'"

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See also:
mal'ak 'elohiym
Topical Bible - Angel of the LORD