Recent development in total internal reflection fluorescence microscopy (TIRFM) has made it possible to directly monitor the behaviors of biomolecules at the single-molecule level both in vitro and in living cells. This technique has opened a new era in bioscience, so-called single-molecule nanobioscience. In this review, we will summarize the theoretical basis of TIRFM, explain the instruments of TIRFM for single-molecules imaging, and discuss some novel applications of TIRFM to single-molecule nanobioscience.