If you are taking the camera from a warm house into the cold outside, you won't have a problem. It's when you bring it back in that you get condensation. Put it in a zip-loc bag before you bring it inside.
Acclimatisation is key, the condensation occurs when you're moving between temperature differences. If you leave the lens on then the condensation will build up around the camera but if you take a lens off it'll build up inside (which isn't good). I would, for example, put my cameras in a colder room before heading out - so perhaps a front porch or similar - so you break up the temperature changes.
Another issue with cold is that batteries run down a lot quicker, so keep an eye on them and take spares. On the plus side sensors perform better in cooler temperatures so you'll have less noise in your images!
I've taken shots in sub freezing temperatures before. It was suggested to wrap the equipment in plastic bags (like a grocery bag) so any condensation should form on the outside of the bag instead of on the camera.
Water doesn't condense on warm things. If the air is cold and the camera is warm, no condensation. It's when the air is warm and the camera is cold that you get problems. You bag it to take it inside, not outside.