The Pilgrimage - 22:75 Allah chooses messengers from angels and mankind. Surely Allah is All-Hearing, All-Seeing.
Allah chooses from the angels:
The Bee/16:2 "He sends down the angels by revelation to whom He wills of His servants, conveying His command: "Warn the people: "There is no god but Me, and listen to Me."

Council/42:51 Allah communicates with a human being only by revelation or from behind a veil, or He sends a messenger and reveals to him what He wills by His permission. He is the Exalted, the Wise.