Sounds like you want to stop just "working out" and start "training".
Working out is just showing up and exercising, sometimes with weights, sometimes hard, sometimes easy, random rest breaks, maybe sweating (maybe not), always guessing what weights to use, reps to do, how many sets, etc, etc.
Working out is exercising with the hope of making progress. But it's like getting in the car and going on a drive; unless you're going somewhere you've already been to before, your odds of getting where you want to go aren't very good.
Training though, that's what it sounds like you're ready to do. Training takes work and preparation. Training takes dedication and time. But with training you can set achievable goals in realistic time frames and take the steps needed to get there.
There's a million "work out programs" out there. Probably a good proportion of them will help you make progress.
But why not start where you really should start, tell us your goals:
1. What specifically do you want to achieve?
2. How do you expect to measure your success? Objective or subjective are both okay (but only one of those can be quantified in real world numbers).
3. When do you want to achieve your goals? (We all want things ASAP, but clearly state a calendar date that you want to achieve your goals by, and we can let you know if you should adjust your expectations to make it something doable).
There are people who just work out and get in better shape. There are even a rare few who can just work out and get into incredible shape (they possess better genetics than the rest of us). But any person you are seeing around you with a physique you'd like to attain, my guess is that they train.
