Described herein are methods, systems, and apparatus for shape-setting hyperelastic, single-crystal shape memory alloy (SMA) material while preserving the hyperelastic properties of the material. Also described are hyperelastic, single-crystal SMA devices that have been shape set by these methods. In particular, described herein are hyperelastic, single crystal SMA dental archwires and methods of forming them while preserving the hyperelastic properties, e.g., without significant grain boundaries in the crystal structure.