Yes, you could drive it home it if thawed out. If it freezes again, the danger is that oil is drawn into the engine, and since liquids aren't compressible, if they get into the combustion chamber you can bend a connecting rod. That is costly enough that you shouldn't keep driving it before figuring out what is causing the problem.

It is unlikely to be a head gasket, and even if it was, you wouldn't have caused more damage.

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2007 X3 3.0si, 6 MT, Premium, White

Retired:
2008 535i, 6 MT, M Sport, Premium, Space Grey
2003 X5 3.0 Steptronic, Premium, Titanium Silver
2002 325xi 5 MT, Steel Grey
2004 Z4 3.0 Premium, Sport, SMG, Maldives Blue