In this paper, we propose a new joint transmit and receive spatial/frequency-domain filtering for single-carrier (SC) multiple-input multiple-output (MIMO) eigenmode transmission using iterative interference cancellation (IC). Iterative IC is introduced to a previously proposed joint transmit and receive spatial/frequency-domain filtering based on minimum mean square error criterion (called joint Tx/Rx MMSE filtering) to reduce the residual inter-symbol interference (ISI) after the Rx filtering. The optimal Tx/Rx filters are derived based on the MMSE criterion taking into account the iterative IC. The superiority of our proposed technique is confirmed by computer simulation.