Condensation will occur when the temperature difference passes over the dew point threshold. If you have something warm, and place it into a cold environment where the temperature difference crosses that line, condensation will occur. Take something warm (over 120F) and place it into your fridge. If you watch it, you will see condensation form. Especially if the item is in metal (which transfers heat much better than plastic will). Take something cold and place it in a warm environment where the temp difference crosses that line and you will see condensation form. I've taken a pot of water, from the tap (it's winter, so the water is cooler than during the summer), placed it on the stove and as it warms up condensation forms on the outside of the pot. That happens long before the water even starts to simmer... Once the water breaks the temperature threshold, the condensation goes away. That's because it's warmed up the pot to the same point. Put that into a cold environment, and the condensation will form as the liquid cools.
As long as you have the temperature difference enough to have the dew point between them (two items), you WILL get condensation. If you have a bone dry environment where the dew point is so low as to be essentially non-existant, then you could get away without condensation. But, since most refridgeration systems also inject moisture into the environment within them, the chance of getting one that won't is rather low.