Typically you will get the quietest gear mesh with spur gears when the gears are designed with profile contact ratio 2.0. Usually a pressure angle in the range of 18-22 degrees can be designed to give this integer profile contact ratio, but it depends on the minium number of teeth on the pinion. Typically you need 20 teeth minimum to get a higher profile contact ratio (otherwise the tooth tips become pointed). A 14.5 degree pressure angle gear needs, as a guess, 25 teeth minimum, to avoid undercut. A higher pressure angle gives a stronger tooth, and can be designed with fewer numbers of teeth. So the 13 tooth pinion on the left looks conventional, perhaps with a 25 degree pressure angle, for a design with so few teeth.
The second pinion looks like it is undercut, which means it is a poorly designed involute gear, or it could be a correctly designed non-involute tooth form. The tooth thickness at the bottom portion of the tooth appears to be smaller than the tooth thickness at the pitch diameter. Look at the tooth at the 12:30 position, the first tooth to the right of the tooth at top dead center.
It is a sixteen tooth pinion, which is not enough for a 14.5 degree pressure angle system, which ususally needs at least 25-30 teeth. So my guess is you have a cycloidal tooth, which is sometimes used in gear pumps.
Take the parts to a gear shop, they can do an involute trace, and determine what type of gear teeth you have.
The pressure angle you select is directly tied to the minimum number of teeth selected for the pinion. The higher the pressure angle, the fewer the number of teeth you can use. You can't use any of the 14.5, 20,or 25 degree involute cutters, and have negative cutter shift to the extent shown, on a 16 tooth pinion, without having excessive undercut.