concoures-
It has to do with the way some solid objects react to changes in solar radiation vs. how air reacts. Typically solid objects both heat up and cool faster to changes in sunlight than air. Plus, the darker the object, the faster it reacts.
For example, put your hand on a dark colored car that is in the sun and that cars surface will be warmer than the air and it will also be warmer than a car painted white. That same car surface will also cool faster once the sun sets than the air around it.
The same things also happens with other objects and surfaces like vegetative surfaces. They will heat up and cool faster than the surrounding air.
So even though the air temperature (officially measured 6 feet off the ground) may not cool to freezing, these darker surfaces do and thus the microscopic layer of air molecules that bounce against those surfaces also cool to freezing and if there is moisture in the air, it can sublimate (go from a vapor to a solid) onto that surface.
-John