We report the measurements of 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 $5.56times10^{20}$ 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 $sigma = (11.76 pm 0.44 text{(stat)} pm 2.39 text{(syst)}) times 10^{-40} text{cm}^2$~$text{nucleon}^{-1}$. 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.
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