Do NOT use hot water, the 'shock' to some of the parts could cause them to crack. Think hot water on a frozen windshield!
I would do the hair dryer as jcctx suggests, on the front and rear hub. This should free the brakes and the bearings if they got wet. That will allow you to push it back, into I hope the now dry garage.
As it warms up, wipe it down to avoid rust. Disc brakes will go rusty, but will clean up next time you ride it with no adverse effects. If chain has frozen to sprockets, you'll have to hair dry the front drive sprocket.
Don't wrench on the clutch cable to try and free it up, squirt WD down it when it warms up.
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