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The condensation comes from water vapour in the air, and so keeping the lens in a plastic bag while it warms up works very well to eliminate condensation on the lens. Same goes when you're shooting outside in the cold and then bring your gear into a warm place, like your house.
Desiccants are used to control humidity in storage, and so reduce the chance that something bad will start to grow in the lenses, i.e. fungus. It's often very humid here in Nova Scotia, and so I store my lenses in a dry cabinet. The dry cabinet contains desiccant material, humidity sensors, and a small heater that dries out the desiccant when it becomes saturated. The humid air exhaust from the heater is vented to the outside of the cabinet. It's simple, relatively inexpensive, and very effective.