Singleton joins the Cowboys offensive staff of newly hired coordinator Todd Monken, recently hired Kasey Dunn, offensive line coach Joe Wickline, and inside receivers coach Doug Meacham.
"Jemal is a high character guy with a strong pedigree and a lot of discipline," Gundy said. "He played on and coached teams that had a lot of success. We're excited about he brings to Oklahoma State."
Singleton had been on the Air Force staff for the past eight seasons and was a running back for the Falcons from 1995 to 1998.
The Falcons ranked second in the country last season with 306.5 rushing yards per game. Air Force's 3,985 rushing yards in 2010 set a Mountain West Conference record and the team's 41 rushing touchdowns tied an MWC record.
In Singleton's eight years at Air Force the Falcons were the conference's top rushing team and ranked among the nation's top 10 running squads each season.
Singleton began his Air Force coaching career at the USAFA Prep School in 2000, serving as an instructor and assistant head coach/offensive coordinator. He returned to the Air Force academy in 2003 to serve as executive director for the athletic director before taking over as the junior varsity team's defensive coordinator and varsity assistant coach.
He was prompted to running backs coach in 2006, a position he held the past five seasons.
Singleton is a 1999 graduate of the Air Force Academy and he was a member of the first two teams to win 10 or more games in back-to-back seasons (1998 and 1999). He was a three-year letterwinner for the Falcons and earned honorable mention All-Western Athletic Conference honors as a senior.
"I'm very excited about the opportunity to work at Oklahoma State and with Coach Gundy," Singleton said. "It's a phenomenal program. It's a school I knew a lot about while growing up in Texas and I'm excited to now be a Cowboy myself."
Singleton attended Taft High School in San Antonio. He is married to Jennifer and they have one daughter, Morgan.