In the context of jacob;some translations have "angel of the LORD-meaning pre-incarnate CHRIST".CHRIST,in the flesh suffered all manner of "touch"including death and burial.
The story of the nephallium(assume that;s what you're referring to Mus?) angels or some "sons of god" desired/slept with women and bred a "super race" of "giants".I think they were the precursors of Goliath and his kin.
Luke 5(?) the demons cast into the pigs/lake questioned JESUS if "have YOU come to torment us before the time?"
I've heard a number of sermons ,but since WORD isn't really all that distinctive(imo)on this subject-I kinda gloss over it.
Read HEBREWS-JESUS is better lol