It's a bit of personal preference but I would probably head back first to Inuvik over Prudoe.
As a destination, Inuvik is a living town with history and you can spend a bit of time wandering around the area and also chatting with some of the locals and even the odd tourist to get a flavour of the place. (They will be putting in a road even further north to Tuktoyuktuk but for now you can only get up to Tuk by plane, by boat, or wait for winter to take the ice road.)
Prudoe, in comparison, is a large resource extraction camp so while some people spend a night at the camp, others prefer to blast in, touch the ocean, and blast out.
Having said that, the high arctic geography around Prudoe is a pretty special place. If you do go, you can camp about 10 km before town right beside the river (you'll see some hunters usually parked up there). To me, that is the allure of the high arctic, rugged, desolate. Sitting in your tent looking out over the tundra you can imagine the strength of the flora and the fauna to survive in such an environment.
As for the ride in, if I remember correctly, the Dempster is more scenic, particlularly at the south end. Far enough north, the trees start to disappear and everything starts to look similar.
Whichever place you visit, the key is to stop and get a feel of the place. It's a unique geographic region of the world, one never knows when we'll get back to places like that. Ride safe.