Photographs of the document signed by President Trump indicate the leaders agreed to “work toward complete denuclearization of the Korean Peninsula.”
The document indicates the leaders will work toward establishment of “new US-DPRK relations.”
The document reads:
President Trump and Chairman Kim Jong Un conducted a comprehensive, in-depth, and sincere exchange of opinions on the issues related to the establishment of new US-DPRK relations and the building of a lasting and robust peace regime on the Korean Peninsula. President Trump committed to provide security guarantees to the DPRK, and Chairman Kim Jong Un reaffirmed his firm and unwavering commitment to complete denuclearization of the Korean Peninsula.
Chinese Foreign Minister Wang Yi has praised Tuesday's meeting between Kim Jong Un and US President Trump, according to a statement from the Foreign Ministry.
Wang said he hoped the summit would help "clear interferences, establish mutual trust and overcome difficulties so that they will reach a basic consensus on, and take concrete steps toward, the denuclearization of the Korean Peninsula."
The Chinese government is a long-time ally of North Korea and has pushed for talks between Pyongyang and Washington for more than a year.
A document was signed, compliments were made and photos were taken after a historic day of talks between President Trump and Kim Jong Un.
But there are still big questions over what the two leaders actually agreed to over almost five hours of talks and negotiations.
Trump will get a chance to clarify some of them.
The President is due to speak to the media soon, at 2:30 p.m. local time (2:30 a.m. ET). The US leader told reporters he would elaborate on the agreement then.
Air Force One is scheduled to fly out of Singapore in the evening, at about 7 p.m. local time.
Kim Jong Un's motorcade is departing Sentosa Island in Singapore after a historic summit with President Trump.
The two leaders just signed a joint agreement, although the exact details are still unknown.
Trump and Kim spent the day in talks and meetings with top advisers.
Speaking moments after the two leaders signed the unspecified document, President Trump said that he had developed a "very special bond" with Kim Jong Un. "It’s been an honor to be with you."
When asked if he would invite Kim to the White House, Trump responded that he would: "Absolutely, I will."
Standing again in front of the US and North Korean flags, where they began the historic day, Trump and Kim shook hands one final time.
"(He's) a worthy negotiator," Trump said to the gathered reporters. "He's negotiating on behalf of his people."
Trump was asked what he had learned about the North Korean leader. "I learned he's a very talented man. I also learned he loves his country very much."
Trump said they would meet again.
President Trump says denuclearization process for North Korea is starting " very, very quickly."
Asked if North Korean leader Kim Jong Un agreed to denuclearize, Trump said, "We're starting that process very quickly, very, very quickly. Absolutely."
President Trump and North Korea's Kim Jong Un are signing a joint agreement, although the exact details are still unknown.
"We're signing a very important document, a pretty comprehensive document," Trump told the waiting reporters. He said he would discuss it "at great length" at an upcoming news conference, and indicated it would be made available publicly.
Kim said he wanted to express his gratitude to President Trump for making the meeting happen.
"We had a historic meeting and decided to leave the past behind and we are about to sign the historic document," Kim said through a translator.
A US official told CNN earlier the document would acknowledge the progress of the talks and pledge to keep momentum going.
It follows a day of historic talks at Singapore's Capella Hotel, on Sentosa Island -- the first meeting between a sitting US President and a North Korean leader.
No signing had been planned at the beginning of the day, although a large amount of time had been left free after a working lunch schedule for 11:30 a.m. local time (11:30 p.m. ET).
Trump first announced there would be "a signing" shortly after midday, during a stroll with Kim around the hotel grounds.
South Korea President Moon Jae-in watched the historic meeting between President Trump and Kim Jong Un from his cabinet room in Seoul.
When the two leaders shook hands for the first time, Moon smiled, according to pictures released by the South Korean president's office.
Moon had his own meeting with Kim Jong Un in April, which was widely viewed as a success.
President Trump and North Korean leader Kim Jong Un sat down with their top advisers during a expanded bilateral meeting at the summit in Singapore.
Here's who went to the meeting: