The document outlines four points the two leaders agreed upon, including a commitment by Kim to work toward the "complete denuclearization" of the Korean peninsula and a pledge to "build a lasting and stable peace regime" in the region.
Trump, asked last week if Rodman had been invited to Singapore, said, "No, he wasn't". Korean Central News Agency (KCNA) mentioned that the summit is being held "under the great attention and expectation of the whole world".
Sanctions will remain until North Korea completely and verifiably eliminates its weapons of mass destruction programs, he added.
The two leaders exchanged broad smiles and warm thank-yous when they met at the Istana.
After a handshake, they were soon smiling and holding each other by the arm, before Trump guided Kim to the library where they held a meeting with only their interpreters. The stagecraft was highly choreographed, but the results of the talks are still unknown: Both mercurial men entered the summit claiming to support "denuclearization of the Korean peninsula", but neither has defined what that means, or what it will take to get there.
But while Trump, and Kim, regularly stray off diplomatic scripts, a larger risk may be that there may be no full transcript, public or secret, of what the two leaders discussed.
"We had a historic meeting and made a decision to leave the past behind and we are about to sign the historic document", Kim said through a translator. A North Korean aide wearing latex gloves reportedly inspected and wiped the pen intended for Kim, which he didn't end up using.
State television aired the same photographs of Kim's departure as well as his arrival in Singapore and the North Korean leader's meeting with Singapore Prime Minister Lee Hsien Loong at the Presidential Palace.
For each leader, the summit represented a major gamble, and the outcome will be dissected around the globe for a sense of whether one of the world's greatest security threats - Kim's nuclear arsenal - can be eliminated. "I truly hope it will be a successful summit that will open a new age for the two Koreas and the United States and bring us complete denuclearisation and peace".