You can also have entanglement for single particles. An example is the Stern-Gerlach experiment, where spin and position get entangled so that detecting the particle at a certain position tells you its spin.
I would say entanglement is possible if you have compatible observables. Two observables A and B are compatible, if a basis of common eigenstates exists for them. So there is a complete set of states, where a measurement of A doesn't change the outcome of a subsequent B measurement. So you can change the values for A independent of B. Note that entangled states are exactly the states which don't have this property. The criterion is that states with this property exist, not that all states have it.
For a single particle, position and spin (projection) are compatible. A particle with a fixed spin projection can be at any position and vice versa. Position and momentum are not compatible because the position wavefunction ψ(x) restricts the possible values of the momentum.
For a composite system, all observables which involve a measurement on only one of the parts are compatible. So if we have two particles, we can entangle all single particle observables (position, momentum, spin, ...) of one particle with all single particle observables of the other.