From what I’ve read, hoarfrost is basically dew that has turned into ice crystals.
There needs to be certain conditions for this to happen. I would tell you what they were if I could, but I only got confused when I read about it. The only explanation that made sense to me is their relationship to dew.
And I like that, there is something poetic about it. So I will enjoy and take note of the hoarfrost for its aesthetics rather than the science.