Depending on their type, clouds can consist of dry air mixed with liquid water drops, ice particles, or both. Low, shallow clouds are mostly made of water droplets of various sizes. Thin, upper level clouds (cirrus) are made of tiny ice particles. Deep thunderstorm clouds which can reach up to 20 km in height contain both liquid and ice in the form of cloud and raindrops, cloud ice, snow, graupel and hail.
It is important to understand that even a cloud that looks impenetrably dark is almost entirely made of dry air. Water vapor and precipitation each make up a maximum of just a couple of percent of the mass of a cloud, except in a few very intense storms.
How do these precipitation particles form? First, tiny cloud droplets are born when the water vapor in the air is cooled and starts to condense around tiny "condensation nuclei" (particles so small they are invisible to the naked eye). The presence of these aerosols is crucial: without them, in absolutely clean air, condensation would not start until the relative humidity has reached several hundred percent (this suggests that the "saturation" level of 100% humidity is poorly defined; in fact, the atmosphere always contains more than enough nuclei of all sorts for condensation to start as soon as the dew point temperature is reached). The more particles there are in the atmosphere, the easier cloud droplets will be formed and the smaller they will be (since more particles will be competing for the same amount of water, so each one of them will attract less). This is why clouds over land have more droplets of smaller sizes than clouds over oceans where the air is generally much cleaner.
The process of ice formation similarly requires the presence of nuclei. However, there are much fewer particles which make suitable ice nuclei. This is why freezing often does not start until the temperature of the air reaches -15° C (if there are no ice nuclei at all, freezing will not occur before the temperature drops to -40° C). Hence, clouds with temperatures below 0° C can still consist of water droplets called "supercooled" water. These drops freeze immediately upon contact with any surface. When they fall to the ground as freezing rain, they can form a thin layer of sleet on roadways, an almost invisible and very dangerous hazard for drivers.