If the lens fogs... just think what's happening to the electronics inside
the camera. The lens is the least of your problems.

I'd Let the camera warm up gradually until the lens clears.

My glasses do the same thing when I get out of my air conditioned car, but
I've never seen it on my camera lens. Maybe because I keep my camera in a
camera bag.

Rina

Store you camera in a zipped plastic bag with a packet of silica gel in it.
When you go outside, don't take the camera out of the bag until it warms up.
Same thing for coming in from the cold to warm moist air.

The solution is to allow the camera to warm up *before* it is
exposed to the warmer (moist) air outside.  The reason for that
is because cool air cannot hold as much water vapor as warmer
air, and the saturated warm air that comes into contact with
your cool camera can't hold the moisture when cooled by contact
with the camera.  The excess moisture condenses onto your
camera.  You notice it on the lenses, but it actually gets onto
everything, and will eventually lead to corrosion problems.

To prevent that from happening, put your camera into a plastic
bag before you go outside, and leave it in the bag until it is
as warm as the outside air.

There are two characteristics this "plastic bag" has to have for
this to work.  It should not let outside air into the bag.  It
doesn't actually have to be air tight, but the *flow* of air has
to be minimal.  A plastic trash bag, for example, won't really
be air tight, but if a small camera is wrapped several times... no
air will move.

But that interferes with the second characteristic, which is
that you don't want the plastic bag to impede the camera warming
up!  In other words, the bag should not be good "insulation".
Air is a very good insulator, so the less air in the bag the
better!  And the thinner the plastic and the fewer layers of it,
the better too.

We have the same problem in cold places, except our trouble is
going to the outside cold into a warm moist house.  I typically
keep several sizes of plastic bags in my vehicle and generally
use something significantly larger than whatever object I want
to protect.  I just put it in the bag, and wrap it up.  I take
it inside, set it in a warm place, and wait.