Yusuf Ali translation : (6:61)
He is the irresistible, (watching) from above over His worshippers, and He sets guardians over you. At length, when death approaches one of you, Our angels take his soul, and they never fail in their duty.
Pickthall translation :
He is the Omnipotent over His slaves. He sendeth guardians over you until, when death cometh unto one of you, Our messengers receive him, and they neglect not
Shakir translation :
And He is the Supreme, above His servants, and He sends keepers over you; until when death comes to one of you, Our messengers cause him to die, and they are not remiss.
Sahih International translation :
And He is the subjugator over His servants, and He sends over you guardian-angels until, when death comes to one of you, Our messengers take him, and they do not fail [in their duties].
Muhsin Khan translation :
He is the Irresistible, Supreme over His slaves, and He sends guardians (angels guarding and writing all of one’s good and bad deeds) over you, until when death approaches one of you, Our Messengers (angel of death and his assistants) take his soul, and they never neglect their duty.
Dr. Ghali translation :
And He is The Vanquisher above His bondmen, and He sends preservers over you till, when death comes to any of you, Our Messengers take him up, and they (i.e., the Messengers) do not ever neglect.
Here you have it. 6 of the translation. Pick any you like. Dont question me. Question the translators.
Mawt and yatawaffahunna both in one verse. Mawt comes before yatawaffahunna in this verse. Therefore, when one dies, their soul is taken to heaven by the messengers(angels), thus, it means taken the soul.
When is soul taken again? sleep and death. You have no other possibility. Not atleast from Qur’an.