You can use the foam insulation and just perforate it with an ice pick or such before insatalation,
But
Propane lines usually freeze up because the flow is pinched at a point causing a pressure differential, ,,, or more simply,, the line is freezing from cold on the inside not cold on the outside (though cold outside makes it happen faster)
Where are the lines freezing? If they are freezing up near the bottle you may have a faulty regulator,,,
even in cold temperatures your lines shouldnt be freezing,
I highly recomend taking to the dealer/ rv shop of your choice and asking them to check it