Released by J Records as the album's third and final single on October 12, 2004, it reached number 21 on the US Billboard Adult R&B Songs and peaked at number 70 on the Hot R&B/Hip-Hop Songs chart.

AllMusic editor Rob Theakston ranked "Stay for a While" among his favorite tracks on parent album Stone Love and called Hamilton's performance on the song "exceptional.

"[1] Jennifer F. Bogar from Today declared the song a "phenomenal track drenched in [both singers'] gospel roots.

"[2] "Stay for a While" debuted at number 72 on the US Hot R&B/Hip-Hop Songs chart in the week of December 18, 2004 and peaked at number 70 on January 15, 2005.

[3] The song also peaked at number 22 on Billboard's Adult R&B Songs, becoming Stone Love' third consecutive single to enter the chart.