Get yourself some foam rollers. You can't brush it on with foam brushes. It needs to be rolled on (or sprayed if you ever go that route).
Then get yourself one of the following varnishes:
Eco Print Shield
Timeless (or Glamor II - both made by Breathing Color)
Clear Shield Type C
Next make sure the canvas you're using is water resistant. If it's not water resistant you will not be able to roll anything on without lifting the ink. If you're canvas is not water resistant you will either have to spray your finish on, or apply a "fix" like Premier Art Print Shield (not Eco - Eco is water-based).
Why don't you tell us more about your setup (canvas, ink, drying time, etc...) and we can help you more.
Oh, and NEVER EVER submerse your canvas in varnish!