Yes, with much success, as the first victims of the void terror will testify. It’s the same with closed cell/eva as well, or any porous material.
You apply a layer as normal, let it tack/dry/whateveryoucallit, then apply a second layer. As always, being liberal helps quite a bit. The first layer soaks into the foam and dries, giving the second (or third) layers something to bond to. Out of curiosity I tried pulling fabric from foam, and came away with a rather scrappy looking bit of glue-hardened calico with a good inch of ripped foam still attached.
You’re quite right that one layer doesn’t work. Which is why they say to use more
Under no circumstances should you bother with the spray on stuff - it doesn’t matter how many layers you use or how liberal you get, whatever you make will just fall apart.
Hot glue is pretty good, but I found it doesn’t soak into the foam enough (no problems on the cloth side though!) and will quickly separate from it under any sort of stress. Also, I wonder if the amount of heat generated inside the suit would actually be enough to soften it again…