Frequency synchronization is a critical requirement for single-carrier frequency division multiple-access (SC-FDMA) uplink transmissions. Based on the key observation that the received signal at the base station can be formulated as the parallel factor analysis model, we present a joint carrier frequency offset (CFO) estimation and compensation scheme for SC-FDMA uplink transmissions with interleaved sub-carrier allocation. The proposed scheme, employing identical training symbols, guarantees the identifiability of CFO estimation, allows the system to operate on full load, and it is readily extendible to multi-antenna base station (BS) reception. Comparisons with existing approaches in the literature reveal that the proposed algorithms provide lower complexity and superior performance.