Yes you can make a manifold from steel if you like. Aluminium is probably a better choice though.
Fuel injection manifolds don't really ice up. (Except for very rare cryogenicly cooled intercooler set ups for forced induction) This is because, as I said earlier, the cooling is generated by the EVAPORTION of the fuel. As most fuel injection set ups inject the fuel directly into the intake port of the head, (well as close as you can get) the main body of the manifold is not exposed to the heat loss.