expanding foam is your best bet, sticking the straw of the can in to the center of the bundle in the center of the hole so it is expanding both directions is most likely going to give you the best results.
If it was a new hole, putting a chunk of pipe in the hole with a rubber cap at each end then drilling a small hole for each wire would be a good way to go and you might even want to add a small pipe/tube to your current hole just so you can add new wires at a later point in time, you should also make sure that you don't have any extra unused wires that should be pulled out before doing any sealing.
If you don't want to use foam, you can also also use caulk but it's not going to seal as well, also if you are worried about the foam expanding enough you can wet the area with a spray bottle as the canned foam tends to react with water to make it foam so a little water in there will make it foam and fill even more then normal.
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