Indeed it is a problem in cold weather and with high humidity. If you have a humidistat check to see what your indoor and outdoor numbers are. If the outside humidity goes high then cracking a vent will only let moisture in. The colder the walls & glass, all you can do is try to keep the indoor percentages low enough to minimize the water buildup. The furnace will help reduce condensation if you set it warm enough but the next best option is to invest in a dehumidifer unit. The bad news is with cold walls any humidity at all will build up on walls &/or glass.
In our dry climate, when we wintered at home we had to run a humidifier to keep it damper than 15% in our arid climate. If you get the humidity too low it's very uncomfortable and gives you lots of static shocks. So, try to find a balance that is comfortable and wipe down all surfaces each morning.