Trump called the document "very comprehensive," although it was unclear what concessions or commitments Kim ultimately signed on to.
Even still, Trump assured Americans after the summit that North Korea is "no longer a nuclear threat."
U.S. intelligence agencies reportedly disagreed. More than a dozen officials told NBC News that they believe North Korea has been producing more fuel for nuclear weapons at secret locations in recent months.
State Department spokeswoman Heather Nauert said Pompeo will travel to Pyongyang on July 5 "to continue consultations and implement the forward progress made by President Trump and Chairman Kim in Singapore."
Pompeo will then travel to two different countries to discuss denuclearization with other stakeholders in the ongoing negotiations with North Korea, she said in a statement to CNBC.
On July 7, Pompeo will depart for Tokyo to discuss North Korean denuclearization and "other bilateral and regional issues" with leaders from Japan and South Korea. He will then fly to Hanoi, Vietnam, to discuss denuclearization with Vietnamese leaders.
Pompeo will also visit Abu Dhabi in the United Arab Emirates and Brussels, Belgium to accompany Trump to the NATO summit from July 11 to 12.