ENH: Allow read_frame to use parameterized queries

Added params argument to read_frame that is passed directly to the
execute method.  This allows users to use a parameterized query
rather than having to pre-format the SQL themselves.
Merge pull request #3285 from bburan-galenea/bburan-galenea/sql-cursor-to-dataframe

ENH: Allow read_frame to use parameterized queries