What is the best way to automaticaly transfer Inventory Items to Assets on the sale of the inventory item?

How do you write a SOQL query to get Quote data and associated Contact information?

"Select ContactId, Phone, Subtotal, TotalPrice, LastModifiedDate, CreatedDate," +
                        "GrandTotal, (Select FirstName, LastName, Email, Phone, " +
                        "MobilePhone From Contacts) from Quote where Id = '" + QuoteId + "'"

Error: Didn't understand "Contacts"  in from part of query.

These queries work fine when run separately as 
Select FirstName, LastName, Email, Phone, MobilePhone From Contact
and 
Select ContactId, Phone, Subtotal, TotalPrice, LastModifiedDate, CreatedDate," +
                        "GrandTotal,  from Quote where Id = '" + QuoteId + "'"

I am new to Visualforce, but am familiar with Angular and SPA's.  I am would like to usr\e Angular inside of VisualForce (in a Visualforce page) and would to like to know suggestions and examples of the best way to access the Salesforce Objects /or API in a VF page?  If you are in a VF page do you need to authenicate?  I looked at forceTK, looked straight forward, but did not seem to fit well with Angular.