In ethics, should moral actions be differentiated from prudential actions?

I often hear academic philosophers say that a person should clearly distinguish prescriptive actions that are "prudential" from those that are "moral." For example, if I want to bake a cake properly, I have to follow a certain set of procedures. However, whether I bake the cake or not -- or whether I follow the recipe competently or not -- has no bearing on my moral standing. Generally, "prudential actions" are considered actions that would benefit me and not harm others. By contrast, I hear it said that whether my action is moral or immoral is determined by whether it harms others. In moral philosophy, is it valid to separate that which is prudential from that which is moral — and to do so in that way?