However, it is still Linux under the hood, so there is a kernel + whatever other applications you want running on there, all as separate processes.
You may also be thinking of busybox, which bakes an implementation of most of gnu coreutils into one file to save space. Many symlinks are often created to that sesame file, and when invoked the process can check what name it was invoked with to determine its behavior.
It builds the bootloader, the kernel, initramfs and rootfs, and then my application(s) all installed in the right place and connected to systemd. The output is a set of images that burn into their respective partitions on eMMC.
If you're a masochist, there's also Yocto. It'll build your compiler and crosstools as well as the entire system image.
A lot of the byproducts are configurable. You could configure the system to not use an initramfs, use only an initramfs/squashfs, etc. It is a really great tool with great documentation.
I agree that Yocto is a bit masochistic by comparison, but vendors like it because its primary purpose is to enable shitty vendor forks.