Geometric phases are noise resilient, and thus provide a robust way towards high-fidelity quantum manipulation. Here we experimentally demonstrate arbitrary nonadiabatic holonomic single-qubit quantum gates for both a superconducting transmon qubit and a microwave cavity in a single-loop way. In both cases, an auxiliary state is utilized, and two resonant microwave drives are simultaneously applied with well-controlled but varying amplitudes and phases for the arbitrariness of the gate. The resulting gates on the transmon qubit achieve a fidelity of 0.996 characterized by randomized benchmarking and the ones on the cavity show an averaged fidelity of 0.978 based on a full quantum process tomography. In principle, a nontrivial two-qubit holonomic gate between the qubit and the cavity can also be realized based on our presented experimental scheme. Our experiment thus paves the way towards practical nonadiabatic holonomic quantum manipulation with both qubits and cavities in a superconducting circuit.