Diffusion imaging is a key contrast in assessing prostate cancer. However, current single-shot EPI-based techniques are often distorted and fundamentally limited in resolution. The aim of this study is to develop multi-shot diffusion-prepared gradient echo imaging to obtain accurate 3D ADC maps in the prostate. We developed a 3D Cartesian centric trajectory with self-navigation, and a shot rejection approach to correct for inter-shot magnitude errors. We used a custom dictionary of acquisition specific signal evolutions to estimate ADC. We have shown in simulations and in vivo that accurate ADC values could be recovered.