I can see this might be a problem if you left the camera set up outside overnight - frost, like dew, doesn't care what it clings to. In my experience, though, it isn't a problem when using the camera - even if you breathe on the lens and it frosts over, usually this will evaporate away just as it does in summer (still a good idea to avoid it). As has been said already, the bigger issue is bringing the camera inside where its warm. Many people use Ziplocks or plastic bags to wrap around their equipment before bringing it in. A bigger problem with film was it getting brittle, but you need about -40 or below for that to be a real problem.
Mike.