Yes ice can sometimes form on roads even when the temperature is above freezing.
Sometimes even when the surface of the road is above freezing the rain can then turn to sleet or ice and then form on the roads which can make the roads icy.
Ice can also form faster on bridges and overpasses when the temperature is above freezing so always be careful when you go over a bridge or overpass because ice including black ice can form on bridges and overpasses much faster than other road surfaces.
If you need to drive slow down and watch the road more than you normally do.
If you don't need to drive on ice or even snow just stay off the road and wait later until the roads clear up to avoid getting stranded or sliding off the road or getting into a major car accident.
If the surface of the road is below freezing, frozen precipitation will accumulate on all roads.
If the temperature is below freezing and the surface of the road is above freezing, it is bridges and overpasses that will ice over while surface roads will remain wet.
Once the surface reaches freezing, ice will accumulate on all road surfaces.