Hi,
It's all due to the relationship of temperature of the optics, ambient temperature and humidity. When humidity is high, the dew point will be near the ambient temperature. The dew will form on the surfaces of things that are cooler, than ambient temperature, with high humidity. So when the temperature drops, and humidity is high, you'll commonly see dew form on things like lenses, which are cooling faster than ambient through radiation.
The simple way to prevent dew is to have your objects warmer than ambient, and then it will not form dew. You can do this with chemical handwarmers touching the body of the lens or front of the lens assembly. You can do this with a portable warmer of any kind. Lots of people do this with optics, such as having a warming case or warming bag, where there are warming elements or bags in the bag/case and you just put your camera assembly, lens, etc, in there for a few minutes and let it heat up a bit. As long as your equipment is around 2 degrees warmer than ambient, it will not form dew.
Just remember, the moment you expose the lens to the cold again, it will acclimate over time and may eventually get cooler than ambient air again, and if humidity is high, that means it will begin to form dew. So you may have to re-warm now and then. The chemical bag hand warmers and rubber bands are a great friend to keep things a little warmer than ambient.
Very best,