Singleton, who spent the last four seasons with the Cowboys, replaces Joel Thomas, who left for the New Orleans Saints earlier this month.
He joins an Arkansas program that finished 7-6 in Bielema's second season after a Texas Bowl win over Texas last year. He takes over a backfield that features a pair of 1,000-yard running backs in Jonathan Williams and Alex Collins.
Prior to Oklahoma State, Singleton spent 11 seasons at Air Force, where he rose from graduate assistant to running backs coach and running game coordinator for his final five seasons. He also played at Air Force, helping the school win 10 or more games in back-to-back seasons in 1997 and 1998.