Galaxy Angel Vol 1

From the Broccoli Books edition

The Angel Troupe has one mission: They must protect Prince Shiva, the sole survivor of the royal family decimated by a coup d'etat. Milfeulle, Mint, Ranpha, Forte, and Vanilla are beautiful and talented pilots of their Emblem Frame. Each of these warriors possesses special gifts, making them ideal for the job at hand. Takuto Meyers finds himself leading the mission, getting caught between the five unique Angels and...Space Whales!?

Source: Anime News Network Encyclopedia