We demonstrate, for the first time, single-beam heterodyne FAST CARS imaging without data post-processing and with nonresonant background subtraction in a simple setup via the real-time piezo modulation of the probe delay. Our fast signal acquisition scheme does not require a spatial light modulator in the pulse shaper, and is suitable for high-resolution imaging and time-resolved dynamics. In addition, the spectral detection of the back-scattered FAST CARS signal is incorporated into the pulse shaper, allowing for a compact and more efficient design. Such epi-detection capability is demonstrated by imaging Si and MoS2 microstructures.