This is not currently possible. When cells are frozen, water seeps out of them and collects between them. As this water turns to ice, it forms crystals which puncture cell membranes. Currently, there is no practical way to repair this damage. However, we do our best to minimize it.
Some injury still occurs.
Also, very low temperatures cause fracturing. For these two reasons, scientists are not yet able to revive a whole mammal after it has been frozen. On the other hand, very small human embryos have been frozen, stored, thawed, implanted, and carried to term by surrogate mothers. The children are healthy in every way. The sperm are still fertile when they are unfrozen days or years later.