Suppose $c\ne0$ and $p(x)$ is the characteristic polynomial of $\frac Hc$. Let $p(x-1)=xq(x)+r$ for some polynomial $q$ and some scalar $r$. By Cayley-Hamilton theorem, $(I+\frac Hc)\,q(I+\frac Hc)+rI=0$. Hence
$$(I+cH^{-1})^{-1} = \frac Hc\left(I+\frac Hc\right)^{-1}=-\frac H{cr}\,q\left(I+\frac Hc\right).$$
Yes, but that's probably not the way you want.
Suppose $c\ne0$ and $p(x)$ is the characteristic polynomial of $\frac Hc$. Let $p(x-1)=xq(x)+r$ for some polynomial $q$ and some scalar $r$. By Cayley-Hamilton theorem, $(I+\frac Hc)\,q(I+\frac Hc)+rI=0$. Hence $$(I+cH^{-1})^{-1} = \frac Hc\left(I+\frac Hc\right)^{-1}=-\frac H{cr}\,q\left(I+\frac Hc\right).$$