Dew and Frost are forms of condensation on solid surfaces by contact. For condensation to occur air has to cool to its dew point. Cold material is more dense. As it rises it undergoes adiabatic temperature changes. Adiabatic means that there is no heat exchange with surroundings.
Clouds are visible concentrations of water droplets or ice crystals in air.
The air must contain some moisture for it to condense water droplets or ice crystals. That condensation will take place at the dew point and to reach the dew point the air must cool. As we just saw the easiest way to cool is for air to rise. There are many different types of clouds. Although all clouds contain water droplets or ice crystals, clearly not all precipiate, that is not all cause rain or snow.