Ive been having this same problem myself.
Here are some conclusions I've come up with as I've been experiencing this for the last month or so.
Missing the fact that it is frozen results in an awful sounding thump when closing the door but won't necessarily result in a broken window or damaged frame.
Getting a high pressure "touchless" car wash definitely contributes to the problem since it pushes water below the seals and freezes the windows from the inside.
Nothing you can do will completely halt the freezing process but minimizing it is at least possible.
There are two products that I have used that might not make certain people too comfortable... Judge me all you want just spare me from having to listen to it =P
The first product I use is a "Silicone Gun cloth", (sold in many sporting good stores), it's basically a liquid silicone impregnated cloth. I have found that using it on the inside upper frame and completely wiping down the bottom seals and the entire inner and outer surface of the window and rolling it up an down several times is semi-effective. I don't know long it lasts because I have been reapplying as often as I can remember. This method doesn't make the windows all messy. Basically when its really cold outside and the seals freeze I find that a few taps with the heel of my hand will free it up, without the silicone, it is frozen solid for as long as it takes to completely thaw it out. The second product I use is just straight up silicone lube. I use this stuff to refresh the gun cloth as it gets grimy and I have to give it a wash. It is sold in the drug store in the "family planning aisle" under the name of "Wet Platinum".
A word of warning, you shouldn't go crazy with this stuff because it will weaken and degrade any solid silicone that it comes into contact with.
Kneegradamus, can you tell us if there are any silicone seals in the doors that might be in close proximity to the window as it descends?
Anyway. I have been using these products for my firearms for a long time and I figured if it will make moisture bead and protect my guns from rust if should work to keep the ice from getting a solid grip on the glass. So far it has worked pretty well, not perfect but better than nothing.
Anyone else willing to try out my trick and give us some feedback?
Other people on different car forums with frameless windows use a product called "gummi pflege" I've never used it myself, anyone tried this stuff?