Is there a way I can fill cinderblocks in my basement to stop water from coming in?
Filling the cavities in cinder block will not make the wall waterproof. The cinder block material at the block webs and the mortar joints will still be permeable and allow moisture through to the inside. 

If you have serious problems with moisture ingress into your basement the proper fix is take care of a number of things: 

1) For most sites the proper use of rain gutters to divert roof run off is used. Also the ground surface is graded to slope it away from the foundation so that water tends to run away from the basement wall area instead of down into the ground at the wall. 

2) In some instances you may need to seal the outside of the basement wall with a suitable material that keeps water from even entering the cinder blocks at all. Proper sealant selection is probably the subject of another question so will not be discussed here. 

3) In the worst case, particularly when the local water table is not very deep into the ground, it is necessary to dig down all along the outside of the basement wall to along the foundation which is below the basement floor level. Drain line with water entry holes or slots gets installed in a bed of porous material such as pebble rock. This drain line is sloped from one high point of the building perimeter around to a low point where it is then piped out to a drain field away from the building. The drain field allows the collected water to enter the soil over a larger area. 

If you are going to the trouble of digging for plan 2 or 3 above it is generally advisable to do both at the same time. It is also a good time to consider the installation of below grade outside wall basement insulation material.