Creating robust quantum operations is a major challenge in the current noisy intermediate-scale quantum computing era. Recently, the importance of noise-resilient control methods has become more pronounced in the field. Ordinarily, noisy quantum systems are described by the Lindblad equation. However, minimizing noise susceptibility using this equation has proven challenging because of its irreversibility. In this study, we propose a new method for creating robust pulses based on the stochastic Schr"{o}dinger equation. This equation describes individual noise realizations under any colored noise process, contrary to the Lindblad equation, which describes mean system behavior under white noise. Using stochastic optimal control techniques, our method, Fidelity-Enhanced Variational Quantum Optimal Control (F-VQOC), is able to construct higher fidelity paths than its non-stochastic counterpart (VQOC). By accounting for both environmental noise sources as well as noise sources inherent to the control system, highly significant increases in fidelity are noted for both single and multiqubit state preparations.