Setup a single node Kubernetes cluster for development using kubeadm: https://kubernetes.io/docs/setup/independent/install-kubeadm/
Create a CentOS 7 or Ubuntu Xenial (16.04) machine, and run kubeadm.sh as root.
You can pass this script as user-data to cloud-init so that it will be automatically run. For example, on openstack:
openstack server create NAME --flavor FLAVOR --key-name KEY --image 'Ubuntu Xenial' --network NET --security-group SECGROUP --user-data kubeadm.sh