Rodman also goes back years with Trump and appeared on his "Celebrity Apprentice" show.
Before signing what Trump described as a "comprehensive" document, Kim said the two leaders had "decided to leave the past behind".
The Pentagon declined to flesh out Trump's remarks about suspending drills, a move the U.S. military had long resisted, saying it was working with the White House, U.S. allies and partners "on the way forward following the summit".
Wang said in a statement earlier that China welcomed and supported the summit between the United States and North Korean leaders and hoped the two countries could reach a basic consensus on achieving denuclearisation. Rodman suggested he helped lay at least the groundwork for the summit, joking to the AP that he "should be pushing for the Nobel Peace Prize". I'm here one day. If [Kim] said something very bad and very threatening and awful, just don't answer. "Don't get it twisted", he said with a laugh.
"I must have had just countless calls and letters and tweets, anything you can do - they want the remains of their sons back", he said. "It's going to be on Donald's hands and how he's going to play this".
"Today is a great day for everybody", he explained.
Trump and Kim met privately from 9:05am local time for 48 minutes flanked only by their translators, then broke for a wider bilateral meeting with aides, a meeting expected to last 90 minutes, leading into lunch at 11:30am (3:30 GMT). He also said he'd like to remove all 28,500 USA troops stationed in the South, although he made clear this was an option for the future, not a part of current negotiations. He wants to come to America.
Meanwhile, some companies tried to celebrate the reconciliatory mood of the two leaders in a different way.
Kim nuclear summit praised, but big questions loom
South Korea , meanwhile, appeared to have been blindsided by Trump's change of heart on war games. Bishop said: "I don't believe that suspension for suspension has actually been agreed".
But it's unclear if or when United States sanctions against North Korea could be lifted.
South Korean President Moon Jae-in meanwhile hailed the outcome of the Singapore Summit, saying the "historic event" had ended the last Cold War conflict.
Former NBA player Dennis Rodman teared up during an interview on CNN while discussing his past history advocating for a meeting between former President Barack Obama and North Korean leader Kim Jong Un. "He is a businessman who has brought a lifetime's experience of doing deals, of getting to know people, of being able to persuade them to come to an agreement".
He said "to solve this problem, of course, we need to achieve denuclearisation and complete denuclearisation", Trump's main demand that North Korea should dismantle its nuclear weapons programme. In the interview with "GMA" co-anchor Michael Strahan, Rodman, who is often criticized for his cordial relationship with the North Korean leader, praised his improbable friend. I'm so happy, ' he said. I am here to see it. "I hope people can put this behind", he added.
'I had to hide out, I couldn't even go home, ' he said.
"The president has raised a whole range of other issues in his press conference but I think it is too early to say that anything like suspension for suspension has occurred".
Dennis Rodman presents a book titled "Trump The Art of the Deal" to North Korean Sports Minister Kim Il Guk on June 15, 2017.
"There's a lot more depth there than I think meets the eye". "Was he committing to end all military exercises or was he committing to end just the most provocative ones?"