A good way to rewrite this sentence is to add the phrase that you want (without shoes) to the end. That would be Frank entered the house without shoes.
If you want to add it to the beginning, however, it does make sense to make sure you are describing Frank rather than the shoes. (If you add the phrase to the end, it becomes a misplaced modifier. Though we know that houses do not wear shoes, the position of the phrase would be confusing.)
To rewrite it would be:
- Frank, without shoes, entered the house.
This is a bit clumsy because of the adjective phrase in the middle of the sentence. You might want to rephrase the sentence like this:
- Frank took off his shoes and entered the house.
This way, you can make it a compound sentence that makes it very clear what is happening.
