I would go with charcoal gray or black.

People often forget (and some never knew), that garage doors are often the single largest architectural element on the façade of a house. When there are more than a single car garage door, the dominance is usually overwhelming. Compare the image of a house with 2-3-4 or more garage doors visible from the street with older houses which had an alley and the garage behind the house. Which of the two houses looks more appealing and retains its inviting residential image longer over time? So...add to the size, scale and proportion of the garage door(s) the façade in which the garage doors are located, and you usually have a scale buster (architectural jargon) on your hands! It's one of the primary reasons many professionals on this forum advise against having the garage doors visible from the front of the house, especially if they project forward of the rest of the house and create the dreaded "snout garage".

Cheryl, I think the word that you were looking for is canted. Angled would also be understood too. I'm generally in favor of having garage doors match the color of the house, unless they are on their own elevation and can be treated as a focal point of that facade. Where they are visible along with the front door they should not be focus pulling, especially when they are much larger than the front door. For the same reason I would typically discourage white garage doors. They tend to be just as focus pulling and distracting. But in the case where your siding color appears to be very light, you may be able to get away with it.

I think the navy is more appropriate for this style. (Both are nice though)