Basically, becoming less of a prude is really about becoming comfortable with yourself, knowing what you want and taking some type of action. I think the word "prude" is a strange word because it is so often used as a teasing name from other people like, "oh you never did {blank} you are such a prude." It is further suspicious that the word is almost only used to describe females. So I guess I would first wonder why you want to do this.

If the desire to become less of a prude is coming from you and only you then I think the best thing is to be confident about yourself and comfortable with how you are right now. Of course it is fun and important to try new things and gain experience but it is always important to know that you are doing these things for yourself and not feeling pressured into them.

If you really listen to your own desire you may be able to learn and to understand it better so that taking more action will come more easily, although the first steps might still be a bit scary.