Can you insulate a cinder block basement/crawl space from the interior?

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P Mci

We are in the North, in a climate that freezes over during winter. Cottage is on a cinder block foundation and is not insulated. It will be very costly and difficult to insulate from the exterior, as it is on a hill and most excavation would have to be done by hand.   

I'm getting conflicting answers as to whether I can insulate the basement crawlspace from the interior (spray foam or other). The foundation has a membrane around it. The concern of course is condensation leading to water damage in the foundation.   

is there any way to safely insulate from the interior?

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