Insulation inside cinderblock basement wall - after built

The house is already built (1944). The cinderblock basement walls were new (1995 when the new highway forced a move to the back of the property).

We did NOT insulate or fill the cinderblock walls at the time. I do NOT want to cover/insulate inside the basement or outside the basement for a lot of reasons -- expense and bother moving electric, plumbing, washer, dryer, hot water heater, bathtub, interior walls and stairs, or landscaping, etc.

Is there a product to put INSIDE the concrete block walls? There is a 2-by wood face plate on top of the block that could be drilled (with the right tool) and something appropriate could be akwardly poured/sprayed inside the blocks for insulation.

Ideas? Experience?