There are a lot of possibilities. You can recycle manmade materials (Styrofoam from packaging, shredded plastics, corragulated board, old clothes) or use natural materials (natural cloth, wool,
hay, straw, burlap)...
You can shield the whole underside of the house against the cooling effects of aircurrents, pack it with materials, or just insulate the plumbing.
It depends on what's available, the reason why your house is raised (groundwaterlevels, floods, pests), budget etc...
You
should take care not to build a nice insulated rat or
mouse (snake, raccoon etcetc) condo because then you could be trading one problem for another.
I've got a few parts of exposed plumbing. One is the greywaterflow from the upstairsbathroom. As the outside is a vertical drop I rarely get problems with it. Running the the warm tap in the morning (showering) is
enough to get rid of any buildup ice over night in the winter. The other is a bit of the waterline between my house and office. It's passing trough an open attic. I insulated it with old styrofoam film that I had laying around anyway. Just to be safe I added a pipeheatingcable underneat. But that's rarely on, even in the depts of winter, so the insulation does the trick. A third is a part of the heatinglines: that's insulated with wrapped
cardboard that has been painted with white chalk paint by a previous owner.