Unfortunately this doesn't seem possible on any physical device iOS 7+ in my testing. Apple looks to have specifically quashed this to force people to use the app lock setting which requires the devices to be supervised by a Configurator.
I've had some success using MDM solutions (AirWatch or Meraki) to force single app mode without actually requiring the devices to be physically plugged into the supervising Mac daily. You still have to setup supervision one time to allow the single app requirement to be pushed down from MDM though.