Basically all of the "nice" pics of Singaporean good pedestrian experiences in this thread are of Chinatown, the Colonial District, and Little India/Arab Street. Which make up a small fraction of Singapore. Granted, this is what you come to see if you're a tourist, but still - this is
not representative of where and how most Singaporeans live.
Most people in Singapore live in places like Punggol (average
Street View here), Woodlands, Sengkang, or Jurong East.
They're nicer than most American cities because they have sidewalks, fewer vehicles, are immaculately clean, and are connected via the MRT, but they're also all state-run planning zones with wide, multi-lane arterials enclosing superblocks of nondescript-but-functional residential towers. The pedestrian experience out in the "towns" isn't bad ala Manila or Jakarta, but it's nothing to write home about either. Outer neighborhoods in America's usual urban suspects surpasses what you find in Singapore's bedtowns in terms of pedestrian experience.
(And unlike in the American neighborhoods, you won't risk a bloody caning for jaywalking because you didn't have time to walk 10 minutes laterally just to reach your superblock's only crosswalk)