This can be done with spray foam or rigid foam cut to fit between rafters and foamed in place with a foam gun.
Insulating attic dormers.
Put on a long sleeved shirt safety glasses and a dust mask.
To find out if you have enough attic insulation measure the thickness of the insulation.
In case the space on the existing rafters is not enough you can fix a batten to the rafters underside in order to enhance the depth.
Loose fill or batt insulation is typically installed in an attic.
Hold the cut insulation against the dormer walls with the paper side facing the attic or room and the fibreglass facing.
Loose fill insulation is usually less expensive to install than batt insulation and provides better coverage when installed properly.
Insulating the floor of the void or the ceiling of the storey below depending which way you look at it is straightforward with a number of options available and is in effect the same as.