A system according to the principles of the present disclosure includes a stop-start module and a fuel control module. The stop-start module stops an engine and thereby interrupts an engine cycle when a driver depresses a brake pedal while an ignition system is on and the engine is idling. The stop-start module restarts the engine when the driver releases the brake pedal. The fuel control module, when the engine is restarted, selectively injects fuel into a cylinder of the engine as the cylinder completes the interrupted engine cycle based on an amount of crankshaft rotation corresponding to a difference between a position of a piston in the cylinder when the piston is stopped and top dead center.