The potential of Internet of Things (IoT) is exponentially increasing in the present smart objects and spaces. The IoT is mainly using its potential to sophisticate people lifestyle by providing handy solutions to remote problems. The Single Board Computers (SBCs) play a major role in providing such sophistication and creating betterment in providing immediate solutions. This chapter mainly provides the introduction and necessity for SBCs in rapid IoT prototyping to solve ad hoc problems. The sensors and actuators capable to work with these boards with respect to operation limitations is discussed. The power constraints, memory, and programming capabilities are mainly discussed in this chapter. The SBCs such as Arduino family, Raspberry Pi family, NVIDIA Jetson nano, and Xavier were concentrated. A glimpse on industrial standard boards such as NXP mbed boards are also discussed in this chapter.