We present an experimental study of the dynamics following the photoexcitation and subsequent photoionization of single Cs atoms on the surface of helium nanodroplets. The dynamics of excited Cs atom desorption and readsorption as well as CsHe exciplex formation are measured by using femtosecond pump-probe velocity map imaging spectroscopy and ion time-of-flight spectrometry. The time scales for the desorption of excited Cs atoms off helium nanodroplets as well as the time scales for CsHe exciplex formation are experimentally determined for the 6p states of Cs. For the 6p 2Π1/2 state, our results confirm that the excited Cs atoms only desorb from the nanodroplet when the excitation wavenumber is blue-shifted from the 6p 2Π1/2 ← 6s 2Σ1/2 resonance. Our results suggest that the dynamics following excitation to the 6p 2Π3/2 state can be described by an evaporation-like desorption mechanism, whereas the dynamics arising from excitation to the 6p 2Σ1/2 state is indicative for a more impulsive desorption process. Furthermore, our results suggest a helium-induced spin-orbit relaxation from the 6p 2Σ1/2 state to the 6p 2Π1/2 state. Our findings largely agree with the results of time-dependent 4He density functional theory (DFT) simulations published earlier [Eur. Phys. J. D 2019, 73, 94].