The 24-year-old has joined the Yellow and Mauves on a free transfer after penning a two-year contract.
Frimpong was released by Kotoko at the end of the 2020/2021 campaign where he made 23 appearances in the Ghana Premier League.
The right-back is a straight replacement for Samuel Appiah who has departed Medeama for Kotoko during this transfer window.
Frimpong spent the 2019/2020 season on loan at Karela United FC having played 9 matches in the truncated league due to the COVID-19 pandemic.
He joined Kotoko from second-tier side Bekwai Youth Football Academy in 2019.