Singleton connected on a trey to make it 62-59 Florida State with 2:30 remaining and FSU (10-4) then clamped down on defense to pull off an upset of the Bears in the Diamond Head Classic third-place game.
Singleton ended with 17 points and 10 rebounds. Derwin Kitchen added a team-high 19 points and Bernard James chipped in with 15 and 10 rebounds for the victors, who outrebounded Baylor 41-27.
The Bears (8-3) got a game-high 23 points from LaceDarius Dunn but he went cold late in the game, missing a 3-point try with 1:22 and then blowing a pair of free throws in the closing minute.
Quincy Acy scored 16 points and A.J. Walton added 15 for Baylor.