One verse remotely close to that idea is Matthew 24:31-- "And he will send his angels with a loud trumpet call, and they will gather his elect from the four winds...". But this refers to a future one-time event, not to every individual death. The other verse is Luke 16:22-- "The time came when the beggar died and the angels carried him to Abraham's side...". But this one event, which was before the cross, cannot be universally applied to all individuals since it is a simple statement of fact which is not found anywhere else in the NT. It also refers to being carried to Abraham's side, which was Paradise (see thread on Hell), which no one goes to any more. To say that angels carry every soul to heaven is not based on any firm scriptural support.