As you'll appreciate it's down to temperature differentials, so either (a) cool them slowly indoors before taking them outside, or (b) keep them warm when outside!
Cooling could be achieved with the use of cold gel packs - the sort you use for injuries - and carrying the camera kit in a small insulated picnic bag or similar until ready to use, after which there shouldn't be any on-going issue (until you return to a warmer place, in which case beware as condensation can be a camera/lens killer).
Warming is more difficult as you need to maintain the temperature throughout the period they're outdoors, but battery powered car windscreen demisting fans might be an option.
What situations are you finding a problem with?