There's dozens of products that will work, the biggest issue is the foam will degrade over time and a thin coating of anything will crack. I'd dig out some of the foam, maybe a few inches and fill them in with non-shrink grout or hydraulic concrete before adding a coat on top. Just coating over the foam might be a safety hazard if anyone tries to use a support on the block core.
Inside garages I usually just see a wood board but sometimes they'll have some core-filling, something like Thoroseal (basically a concrete paint) will smooth it out nicely, once it's filled but might be overkill.