The present work proposes an extension of single-step formulation of full-state feedback control design to the class of distributed parameter system described by nonlinear hyperbolic partial differential equations (PDEs). Under a simultaneous implementation of a nonlinear coordinate transformation and a nonlinear state feedback law, both feedback control and stabilisation design objectives given as target stable dynamics are accomplished in one step. In particular, the mathematical formulation of the problem is realised via a system of first-order quasi-linear singular PDEs. By using Lyapunov's auxiliary theorem for singular PDEs, the necessary and sufficient conditions for solvability are utilised. The solution to the singular PDEs is locally analytic, which enables development of a PDE series solution. Finally, the theory is successfully applied to an exothermic plug-flow reactor system and a damped second-order hyperbolic PDE system demonstrating ability of in-domain nonlinear control law to achieve stabilisation.