Are you running your defroster when this occurs? If so, the A/C compressor should be running which provides dehumidification of the air in the cab - it removes the moisture put into the cab atmosphere by the occupants' breath. The chilled, dehumidified air is then reheated by the heater core and sent to heat the windshield through the defroster ducts.
All it takes for frost to form is (1.) the dew point (a measure of moisture in the air) of the cabin air to be above the glass temperature and (2.) the glass temperature to be 32 degF or below. Check to see that warm air is coming out of the defroster ducts and that the A/C compressor is running when defrost is selected.
Rusty