Unfortunately, gardening is an inexact science. Actually, it is more like an art. However, there is a method that is helpful.
First, you need to determine your USDA Hardiness Zone. A little Googling will turn up a very helpful colorful map showing the zones. However, you also must consider the microclimate within your zone. For example, I live in Zone 6a, but I am in a valley and often have cooler temperatures and a slightly shorter growing season than my neighbors 5 miles down the road do.
Your Hardiness Zone gives you a general idea of first and last frost dates. My last frost can be up to May 20. My first fall frost isn't supposed to be until October 20, but I lost my fall crop of string beans on October 1 this year. This was due to my cooler microclimate in the valley.
With frost dates in hand, we can begin looking at specific vegetables. Some such as peas, lettuce, radishes, spinach, kale, and onions may be planted a week to several weeks before the last frost date in the spring. Others such as string beans and corn should wait until the frost-free date. Very sensitive plants like peppers, tomatoes, and eggplant are best off planted a week after the last frost date when the ground temperature is a little warmer.
As Chuck mentioned, a soil thermometer can help you to get a little more scientific in your risk assessment. Between the frost free dates, soil temperature, and the weekly weather forecast, I make an educated gamble. You might compare it to playing the lottery, only much more certain. You can be a risk taker with the first tomatoes in your community most years but no tomatoes other years, or you can play it safe and wait that extra week.
One resource I recommend is The Year Round Vegetable Gardner. In her book, Niki Jabbour gives very helpful tables for almost every common vegetable showing a planting window as frost-free date plus or minus a certain number of weeks. This reference alone makes the book worthwhile. She also covers various season extension methods which I have implemented in my own garden. For example, using a mini hoop house, I had a meal of fresh lettuce and spinach last night a full month and a half after my first killing frost.
Rather than becoming frustrated with the lack of precision in gardening, I encourage you to embrace the art. Time and experience will give you a feel for the right time to plant. Just keep in mind that even master gardeners get burned once and a while just to keep them humble.