How to insulate an interior wall between a warm humid bathroom and a cold bedroom

Why would you need insulation on the ceiling in a basement? Since the ceiling is touching a heated space itself, there is no need if you will then be using the basement too. Insulation there should be done only for soundproofing, unless you have radiant underfloor heat installed, in which case, the insulation should have been done already as part of the installation. So insulation really only offers soundproofing value. So the question is, how much noise will be generated there?

Counterbalance that with the rationale for leaving this space accessible. I've often enough needed access to the underfloor regions of my home, for wiring changes, plumbing changes, repairs, etc. So any insulation may be better done as fiberglass batts anyway.

As far as the walls go, filling the cracks is a reasonable idea, IF they are stable. If the walls have moved due to frost heaves, etc. and might continue to move, I would ensure they are stabilized before you cover the wall over. A buckling foundation wall is not something good to have under your house.

Any high humidity area like a bathroom should have a good vapor barrier under the sheetrock. This barrier should be taped at the seams and ceiling forming sort of an air tight cell. Usually a kraft backed insulation is not a very good vapor barrier and has lots of gaps. To be on the safe side and avoid any condensation between the 6 mil and kraft, you could simply remove the kraft backing or cut several slices in it top to bottom. Usually it will not cause a problem unless you live in a very wet humid climate or the plastic is not sealed properly. The 6 mil is a much better material for your purpose than kraft backed.