You will get different answers on this, some say never frost frozen. I do it all the time, I actually crumb coat frozen, stick in the fridge to thaw gradually for a day then take out and frost. I live in a normally dry area and this works great but this last week it has rained for a week and very humid here. It takes longer to thaw and it sweats when I take it out of fridge. Then I let it sit on counter for a few hours to dry up. You can also just take out of freezer with plastic still on and let thaw for a few hours then frost. I do this with some cakes.
The thawing time will vary w/the size of the cake.
Is it a single layer or put together w/filling tier? Of course, a single layer will take only 30-60 minutes but a tier can take up to 4 h ours.
An 8" tier will take much less time than a 12, 14 or 16" one.
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