This paper reports the first T2K measurement of the transverse kinematic imbalance in the single-$\pi^+$ production channel of neutrino interactions. We measure the differential cross sections in the muon-neutrino charged-current interaction on hydrocarbon with a single $\pi^+$ and at least one proton in the final state, at the ND280 off-axis near detector of the T2K experiment. The extracted cross sections are compared to the predictions from different neutrino-nucleus interaction event generators. Overall, the results show a preference for models which have a more realistic treatment of nuclear medium effects including the initial nuclear state and final-state interactions.