V-Stretches, jelq upward, and then buy about a 10lb kettle-bell from wall-mart with a wrist sweatband. Place the wrist sweat band where you want the curve to be. Put the weight handle on the wrist band then grab under the gland and pull straight out with the weight hanging where the curve is to form.
Its hard to form a curve but it is possible. If you use an ADS with tension rods when fully extended stick a rod between the top of the shaft but under the tension rods, they will fully extend your penis but at the same time curve it up. Over time with all of the above mentioned you should to start to develop a curve. I don’t think you’ll ever get a “prominent” upward curve but you will start to form one.