Condensation is a big in hot, humid environments. Cold air cannot hold as much moisture as warm air. The air around your equipment is cooled by the cold glass and causes moisture in the air to form on it. Wiping it off doesn't really help because it just comes back. The only cure is to warm up your equipment.
The ziplock bag trick doesn't really make things much faster, but it is much safer. Condensation is water and it can do bad things. Inside your camera, it can cause electrical shorts. On your lens, it can cause spotting.
I usually deal with by whining, mumbling curses, and pouting. It's not very effective, but it gives me something to do while I wait for my equipment to warm up. Seriously, anything that you can do to warm up your equipment, like putting it in the sunlight, helps. Don't wrap it up in something like a blanket. Unlike a person, the camera isn't making its own heat (not much anyway), so the blanket will just keep heat from getting to your camera to warm it up.