We report the measurements of the single and double differential cross section of muon neutrino charged-current interactions on carbon with a single positively charged pion in the final state at the T2K off-axis near detector using 5.56×1020 protons on target. The analysis uses data control samples for the background subtraction and the cross section signal, defined as a single negatively charged muon and a single positively charged pion exiting from the target nucleus, is extracted using an unfolding method. The model-dependent cross section, integrated over the T2K off-axis neutrino beam spectrum peaking at 0.6 GeV, is measured to be σ=(11.76±0.44(stat)±2.39(syst))×10-40 cm2 nucleon-1. Various differential cross sections are measured, including the first measurement of the Adler angles for single charged pion production in neutrino interactions with heavy nuclei target.