The issue of soil–structure interaction (SSI) is essentially to analyze the influence of complex media on the mechanical behavior of supported structures. With the development of underground space, geological structures and space constraints put forward higher requirements for foundations and buildings. In this paper, the effects of soil heterogeneity and embedment depth on the bending of finite-length beams embedded in two novel Vlasov elastic foundations are investigated. Firstly, the constitutive relations of subsoil are simulated by Gibson and transversely isotropic soils, and the type of elastic foundation is described by the modified Vlasov model. Then, based on variational principles, the governing differential equations for the deformation and attenuation parameters of beams embedded in elastic foundations are derived by taking the variation of the minimum potential energy of the system, and the characteristic coefficient related to the embedment depth is introduced. Finally, the mechanical performance of the beam and foundation is obtained by an iterative technique and the Fourier series method, and an extensive parametric study is performed to examine influence of some basic parameters on the deformation and internal forces of the system. The results show that the mathematical expressions of two refined elastic models are in good agreement with those of the traditional Vlasov foundation after degradation. The iterative technique based on the principles of solid mechanics can be employed to obtain more reliable model parameters. More importantly, with the increase in the embedment depth, the mechanical responses of the beam and subgrade forces decrease. The main reason is that the restraint effect of the soil media around structures, which leads to the reduction of the characteristic coefficient affecting the displacement of beams. Moreover, the heterogeneity of soil, including Gibson characteristics and transverse isotropy, should be considered according to specific working conditions in civil engineering.