All ModelAdmin examples I've seen are based on a model admin used to manage a number of dataobjects, typically in the form of a gridfield. However, I want to manage just one DataObject, with a number of data fields. I realize I could add these fields to, for example, the site config, but I want it to appear as a separate menu item in the left column. Is this possible? Is it possible to create some kind of DataObject singleton, which I can edit via a link in the left navigation in the admin interface?
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ModelAdmin is 100% the wrong solution to be looking at.
You've already touched on a better way - look up on how Settings menu works (CMS module adds it, so it's not 'inbuilt' to the admin area itself) and replicate/subclass that instead :)