Adam - Charles Rocket

Adam was the first Angel of Death

Henry - Bruce Altman

He was in 2 episodes the Angel of Death before Andrew arrived

Raphael - Alexis Cruz

Raphael helps the other angels from time to time in difficult cases.

Sam - Paul Winfield

Sam was Andrew's supervisor when he was still a  caseworker. Whenever Sam appears either it's a very serious case or one of the angels is in trouble.

Gloria - Valerie Bertinelli

Gloria is in the last few seasons the 4th permanent angel. She was new created and discovers slowly what it means to be an angel and to work on earth for the Father