Instructions
Reverse the polarity on your Peltier unit. This will turn the cooler into a heater. Once the frost is melted, you can wipe the moisture off.
Contact the manufacturer of your Peltier device to get special coatings for the thermoelectric module. Most companies recommend against using a traditional sealant such as silicone, because it is more likely to trap moisture inside than keep it out. Moisture trapped inside the seal will cause the module to fail sooner than it normally would.
Use a dehumidifier near the module if you have installed one in the house. When the temperature gets below the dew point, condensation will form. Reduce the available moisture in the air around your Peltier to minimize frost formation without having to constantly reduce polarity.