I think a few more details might be in order here.
First, how old is this Fronteir, and roughly how many miles are on it? Under what conditions does the truck fail to start- does it do it when the engine is warmed up, cold, or indifferent? Is the fuel pump making a lot of noise when the truck is running- a fuel pump failing generally sounds like a sick lawnmower.
I'll take a couple of guesses, even though I'm not the most familiar with the Fronteir in general and don't know exactly how old this one is.
One guess at the moment is a possible crankshaft position sensor. It can cause no start or extended crank but often (at least at first) won't die once the engine is running. Failure of the CPS doesn't always set the check engine light either.
Another guess is that the fuel pressure regulator is beginning to fail. I've seen this happen before and cause symptoms much like you described. Cycle the key a few times and once started the car will run fine- this is a good indicator of a fuel pressure regulator, although it can also mean another part of the fuel system has failed. This will not set a check engine light either. To test this theory you need a fuel pressure gauge to attach to the fuel rail. Get a partner to turn the key to the on (but not start)

and off again. You should consistantly get a 40-60 PSI reading that will bleed down. I saw a similar problem in a Ranger that came into the shop that was solved by a new fuel pressure regulator.
A dying fuel pump could also cause the symptoms you listed.
Right now though, these are just guesses, and a guess is not a substitute for diagnostics. It is also not a substitute for a well maintained vehicle. Each little variable can play into your diagnostics, so it might not be a bad idea to get a new fuel filter and new air filter and making sure that general maintainance is complete before beginning your diagnostic tests. My thoughts are based on my conjecture from experience with a few other models and such, so I could be right or wrong. I hope this give you a few ideas though.
