Have you ever noticed that moisture condenses on the outside of ice tea, but never on the outside of hot tea?
That simple experiment should tell you that cold air, can't hold as much moisture as warm air.
The temperature, which the air is saturated and condensation occurs is called the dew point. Below the dew point for the air at the time, you get condensation. Above it, you don't. (as in dew on the grass in the morning)
The more saturated the air (the lower the dew point), the faster the condensation.
I hope this can help you :)