For those who are intereste, search for adhesive lined heat shrink tubing. Mcmaster.com has it. it will provide a watertight (if done right) seal around the wire connections.
Resurrecting old post, sorry... but how hard is it to remove the stuff when you need to later? Just curious.
decently difficult if it is over a connector like a servo lead... not impossible but not as easy as the non0sealing stuff. not too bad just covering soldered wires.