Light on specifics, the Singapore accord largely amounts to an agreement to continue discussions, echoing previous public statements and commitments.
The agreement said the two countries would co-operate towards "new relations" while the USA would provide "security guarantees" to North Korea. "And I think it's going to work out very well".
President Trump referred to the summit as a "one-time shot" and Kim told Singapore's Prime Minister Lee Hsien Loong that "entire world is watching".
"Top of the line", the President said, arguing the summit went better than his critics had expected.
"Absolutely, I will", Trump said. "We learned a lot about each other and our countries".
Trump has said he'll know within minutes whether a deal can be made to settle a standoff over Pyongyang's nuclear program.
In a briefing with reporters Monday, Secretary of State Mike Pompeo did not set a threshold for whether there's any terms than North Korea would have to agree to beyond committing to further discussions that would make the summit a success.
Mr Kim called the sit-down a "good prelude for peace" and Mr Trump pledged that "working together we will get it taken care of".
Kim was photographed visiting the Sky Park on the roof of the Marina Bay Sands building, the Great Flower Garden and Singapore Port.
"Many people in the world will think of this as a form of fantasy. from a science fiction movie", Kim said via the translator after the two leaders first met. So we look nice and handsome and thin?
The president, however, did not ignore the North Koreans' history of promises not kept.
Scaramucci agreed that Trump is a "disruptive" force in the world. Kim has been accused of horrific rights abuses against his people.
Trump, a regular proponent of Fox News, had not responded to the error at the time of publishing. But he added "our hostages" are back home and testing, research and launches have stopped.
Huntsman also tweeted an apology regarding the incident. "But we have enough intelligence to know that what they have is very substantial". During an impromptu conference about the G7 summit, Trump shared his optimism about the upcoming meeting with Kim.