Use a dehumidifier. The same machine that improves the humidity level in your house in the summer will also reduce or completely eliminate window moisture in the winter.
Turn on ceiling fans to circulate the air. The blowing fan can encourage evaporation.
Exhaust fans should be used when cooking. That steam you see coming off your cooking meal will eventually end up on the walls or windows. By using a fan that exhausts to the outside (not the attic), you pull the moisture-filled air out, preventing or reducing interior moisture build-up. Likewise with your bathroom shower - use the exhaust fan or at least cut back on the long steamy showers.
An excessive number of plants can add moisture to the air. Disperse the plants throughout the house or use Step 1.
Moisture can also form on bedroom windows that are seemingly away from all sources of moisture. That's because people give off moisture too. With energy prices as high as they are you may not choose to do this step, but you could open a window about one inch at night to allow the moist inside air to mix with the cool outside air to prevent condensation on the window.