Yes, they are aware of what is happening on earth as they are ministering spirits. As has mentioned already, Matt. 18:10 shows them watching over the children.
"`Beware! -- ye may not despise one of these little ones, for I say to you, that their messengers in the heavens do always behold the face of my Father who is in the heavens," (YLT)
Gabriel, in speaking to Daniel (c.10:13) explained his delay in coming to him:
"And the head of the kingdom of Persia is standing over-against me twenty and one days, and lo, Michael, first of the chief heads, hath come in to help me, and I have remained there near the kings of Persia;" (YLT)
They carry out the instructions from God, but that does not mean they always understood God's plan. The things they wished to know, that which they desired to look into was how God was going to reconcile all men back to Him.
"25 Now to him that is of power to stablish you according to my gospel, and the preaching of Jesus Christ, according to the revelation of the mystery, which was kept secret since the world began,
26 But now is made manifest, and by the scriptures of the prophets, according to the commandment of the everlasting God, made known to all nations for the obedience of faith:" (KJV)
"Having made known unto us the mystery of his will, according to his good pleasure which he hath purposed in himself:
"10 That in the dispensation of the fulness of times he might gather together in one all things in Christ, both which are in heaven, and which are on earth; even in him:" (KJV)
"3 How that by revelation he made known unto me the mystery; (as I wrote afore in few words,
4 Whereby, when ye read, ye may understand my knowledge in the mystery of Christ)
5 Which in other ages was not made known unto the sons of men, as it is now revealed unto his holy apostles and prophets by the Spirit;
6 That the Gentiles should be fellowheirs, and of the same body, and partakers of his promise in Christ by the gospel:" (KJV)
The angels watched, and witnessed the events of men on earth. They carried out the instructions from God to do His will, but they were not privy to His knowledge and understanding of all things, just as men were not always told everything either. So, they desired to look into these things to know His will and His plan of salvation for all men.