The Bible indicates that they were individually created by God before the founding of the earth:
"Where did you happen to be when I founded the earth? Tell [me], if you do know understanding...When the morning stars joyfully cried out together, And all the sons of God began shouting in applause?" (Job 38:4-7)
For more, see:
The Truth About Angels
Angels - Who are they?
What is an angel?
Angels - Why are they referred to as male in the Bible?
Who were the "sons of God" mentioned in Genesis 6:2?
Do Humans Become Angels When They Die?
Do you have a guardian angel?
Angels - How do they affect us?
Should Christians Expect Divine Protection?
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