What is the best way to query data from a MS SQL Server in C Sharp?

I know that it is not good practice to have an SQL query in the code.

Is the best way to create a stored procedure and call it from C Sharp with parameters?

using (var conn = new SqlConnection(connStr))
using (var command = new SqlCommand("StoredProc", conn) { 
                           CommandType = CommandType.StoredProcedure }) {
   conn.Open();
   command.ExecuteNonQuery();
   conn.Close();
}