We present a fixed parameter algorithm that constructively solves the k-dominating set problem on graphs excluding one of the K_{5} or K_3,3 as a minor in time O(3^{6sqrt{34 k}}n^{O(1)}). In fact, we present our algorithm for any H-minor-free graph where H is a single-crossing graph (can be drawn on the plane with at most one crossing) and obtain the algorithm for K_{3,3} (K_{5})-minor-free graphs as a special case. As a consequence, we extend our results to several other problems such as vertex cover, edge dominating set, independent set, clique-transversal set, kernels in digraphs, feedback vertex set and a series of vertex removal problems. Our work generalizes and extends the recent result of exponential speedup in designing fixed-parameter algorithms on planar graphs due to Alber et al. to other (non-planar) classes of graphs.