In 1997 the IAU adopted the International Celestial Reference Frame (ICRF) built from S/X VLBI data. In response to IAU resolutions encouraging the extension of the ICRF to additional frequency bands, VLBI frames have been made at 24, 32, and 43 GHz. Meanwhile, the 8.4 GHz work has been greatly improved with the 2009 release of the ICRF-2. This paper discusses the motivations for extending the ICRF to these higher frequency radio bands. Results to date will be summarized including evidence that the high frequency frames are rapidly approaching the accuracy of the 8.4 GHz ICRF-2. We discuss current limiting errors and prospects for the future accuracy of radio reference frames. We note that comparison of multiple radio frames is characterizing the frequency dependent systematic noise floor from extended source morphology and core shift. Finally, given Gaia's potential for high accuracy optical astrometry, we have simulated the precision of a radio-optical frame tie to be ~10–15 μas (1-σ, per component).