You can get an applied frosted film to do each pane with. It is reasonable in cost and can be found in the big Box stores.

Option two would be to replace the doors with ones that match the others in the house. Slab doors are very reasonable and can be bought at the big Box stores also. A solid core door can be had for less than $100 then you have to install it.

Agreed with the film which is cleaner looking and more timeless.