In general, cantilevered steel beams are a nightmare. If part of the steel beam is in contact with exterior temperatures, then it's best if the interior portion of the steel beam is covered on all sides with insulation. This is generally impossible (because the interior portion of the cantilevered beam generally supports a load, meaning that you can't wrap the steel beam in insulation on all sides). https://m.youtu.be/ggLAUsiuI_o
For large jobs, professionals such as Dr. Energy Saver use two-part foam, which comes in larger containers. With 2-part spray foam, it's necessary to mix separate resin and catalyst compounds at the application nozzle. Combining these ingredients starts a chemical reaction that creates expanding foam. Contractors use small 2-part foam "kits" to air-seal an attic or to seal and insulate ductwork. To insulate an entire attic or wood-framed wall with spray foam, the resin and catalyst compounds are pumped to the application nozzle from 50-gallon drums in a specially equipped truck.