You need two things to be burned by something: 1) it needs to be hot- typically over 60 C and 2) it needs to be able to transfer heat into your skin rapidly enough to cause your skin to rise in temperature fast enough that you are burned before you can react. Insulation deals with both 1) and 2), as long as you don't clad it- if you clad the insulation with metallic cladding, you need to keep the surface temperature of the cladding below 60 C. If you clad with an insulating material (for instance silicone impregnated glass cloth), surface temperatures can be higher without generating burns.