The below Hadith states that some of the Sahaba at a later stage saw Gabriel (Jibreel) in the human form:
حَدَّثَنَا مُسَدَّدٌ، قَالَ حَدَّثَنَا إِسْمَاعِيلُ بْنُ إِبْرَاهِيمَ،
أَخْبَرَنَا أَبُو حَيَّانَ التَّيْمِيُّ، عَنْ أَبِي زُرْعَةَ، عَنْ
أَبِي هُرَيْرَةَ، قَالَ كَانَ النَّبِيُّ صلى الله عليه وسلم بَارِزًا
يَوْمًا لِلنَّاسِ، فَأَتَاهُ جِبْرِيلُ فَقَالَ مَا الإِيمَانُ قَالَ
" الإِيمَانُ أَنْ تُؤْمِنَ بِاللَّهِ وَمَلاَئِكَتِهِ وَبِلِقَائِهِ
وَرُسُلِهِ، وَتُؤْمِنَ بِالْبَعْثِ ". قَالَ مَا الإِسْلاَمُ قَالَ
" الإِسْلاَمُ أَنْ تَعْبُدَ اللَّهَ وَلاَ تُشْرِكَ بِهِ، وَتُقِيمَ
الصَّلاَةَ، وَتُؤَدِّيَ الزَّكَاةَ الْمَفْرُوضَةَ، وَتَصُومَ رَمَضَانَ
". قَالَ مَا الإِحْسَانُ قَالَ " أَنْ تَعْبُدَ اللَّهَ كَأَنَّكَ
تَرَاهُ، فَإِنْ لَمْ تَكُنْ تَرَاهُ فَإِنَّهُ يَرَاكَ ". قَالَ
مَتَى السَّاعَةُ قَالَ " مَا الْمَسْئُولُ عَنْهَا بِأَعْلَمَ مِنَ
السَّائِلِ، وَسَأُخْبِرُكَ عَنْ أَشْرَاطِهَا إِذَا وَلَدَتِ الأَمَةُ
رَبَّهَا، وَإِذَا تَطَاوَلَ رُعَاةُ الإِبِلِ الْبُهْمُ فِي
الْبُنْيَانِ، فِي خَمْسٍ لاَ يَعْلَمُهُنَّ إِلاَّ اللَّهُ ". ثُمَّ
تَلاَ النَّبِيُّ صلى الله عليه وسلم {إِنَّ اللَّهَ عِنْدَهُ عِلْمُ
السَّاعَةِ} الآيَةَ. ثُمَّ أَدْبَرَ فَقَالَ " رُدُّوهُ ".
فَلَمْ يَرَوْا شَيْئًا. فَقَالَ " هَذَا جِبْرِيلُ جَاءَ يُعَلِّمُ
النَّاسَ دِينَهُمْ ". قَالَ أَبُو عَبْدِ اللَّهِ جَعَلَ ذَلِكَ
كُلَّهُ مِنَ الإِيمَانِ.
Narrated Abu Huraira:
One day while the Prophet (ﷺ) was sitting in the company of some
people, (The angel) Gabriel came and asked, "What is faith?" Allah's
Messenger (ﷺ) replied, 'Faith is to believe in Allah, His angels,
(the) meeting with Him, His Apostles, and to believe in Resurrection."
Then he further asked, "What is Islam?" Allah's Messenger (ﷺ) replied,
"To worship Allah Alone and none else, to offer prayers perfectly to
pay the compulsory charity (Zakat) and to observe fasts during the
month of Ramadan." Then he further asked, "What is Ihsan
(perfection)?" Allah's Messenger (ﷺ) replied, "To worship Allah as if
you see Him, and if you cannot achieve this state of devotion then you
must consider that He is looking at you." Then he further asked, "When
will the Hour be established?" Allah's Messenger (ﷺ) replied, "The
answerer has no better knowledge than the questioner. But I will
inform you about its portents.
When a slave (lady) gives birth to her master.
When the shepherds of black camels start boasting and competing with others in the construction of higher buildings. And the Hour is
one of five things which nobody knows except Allah.
The Prophet (ﷺ) then recited: "Verily, with Allah (Alone) is the
knowledge of the Hour--." (Quran 31:34) Then that man (Gabriel) left and
the Prophet (ﷺ) asked his companions to call him back, but they could
not see him. Then the Prophet (ﷺ) said, "That was Gabriel who came to
teach the people their religion." Abu 'Abdullah said: He (the Prophet)
considered all that as a part of faith.
Sahih al-Bukhari Book 2, Hadith 43