What are you sealing in the attic for? It is sealed on the weather side, I assume concrete or clay tile roof?

Yes sealed on other side. But I want to seal this too

Clay tile roof

The reason I mentioned about the tile roof and being in the attic - your tiles are mounted on cleats, so there is a membrane that has been punctured (below the tiles on top of the insulation board). If there is any water penetration behind the tiles at this point or above it, you will see it because it will come through the hole, and you can repair it. If you fill the hole, it doesn't do anything except mask a future water problem that may rot out something else.

solar installers should have sealed it on the other end. I am just trying to make sure it wont be a problem laster by sealing from the inside as well

If you have a piece of batt insulation, just push pieces of it all around the pipe. Best way to do it, in case, it has to be removed later due to a problem. Not much fun, trying to clean spray foam out of there.

or should i spray foam inside the hole to seal it?

no spray foam. Its hard to make repairs if needed. In your case, insulation packed in there is all that is needed.