1:6 And the angels which kept not their first estate, but left their own habitation, he hath reserved in everlasting chains under darkness unto the judgment of the great day.
If you do a word study of the Greek for estate and habitation it give the connotations that they left their first form of being and left heaven.
I’m not saying they didn’t. But they did not procreate with humans. They bedevil humans for they are legions under Satan. They would still be mating and producing offspring if this were possible. They are spiritual evil.