Some things I did to improve my writing:
-Read novels within the genres that I like and want to write in.
-Read books and listen to lectures on writing.
-Have multiple novelists review and critique my writing with an emphasis on prose and pacing. I'm two rounds into this (each with a couple novelists) and will probably do four total, since I still have more work to do.
Now, eloquent prose will never be my strong suit. My goal was to get to a level where my prose is clear and concise and lets me express a story without getting in the way.