A video shared on TikTok user Montana & Chris showed thick black smoke emitting from the machine at Gate D46 and filling part of the departure hall, prompting many passengers to cover their noses.
A fire extinguisher was used to extinguish the blaze and the fire was quickly put out by two airport staff, The Straits Times reported.
The fire was caused by an electrical fault, a representative of Changi Airport Group said.
The incident happened at around 6:40 a.m. as passengers of the flight were taken to another gate's waiting room, Scoot said in a statement as cited by Channel News Asia.
The affected passengers were provided with refreshments, the airline added.
The flight was originally set to depart at 7:10 a.m., but data from Flightradar24, a flight-tracking site, showed that it subsequently took off at 9:15 a.m.and arrived in Bali at 11:30 a.m.
Singaporean authorities are investigating the cause of the fire.
Changi Airport, home to the world's tallest indoor waterfall, has been voted one of world's best many times. The airport is famous for its modern amenities and services, duty-free shopping, indoor rainforest, and luxury hotels.
It has automated check-in and entry registration, biometric authentication systems and artificial intelligence to transport luggage.