With no moisture. Rookie, you should do both. Install 8 inches of fiberglass insulation in the floor at a minimum an make sure it's unfaced. For the walls, install 2 inches of Styrofoam boards between the cement floor and the floor joists. Lastly, you mentioned you have no ventilation.
Ventilation is important to keep moisture from forming.
We recommend you install at least one vent on each side of the house. Insulation that's moist will not be effective. There are some water pipes attached to the bottom of the joist. If you're seeing condensation, you probably need to improve your grading and roof drainage outside the foundation. Condensation will not hurt but the high moisture will make your insulation ineffective.