A SiPM readout circuit includes a front-end circuit having amplifiers coupled to SiPM analog outputs, pixel readout channels coupled to amplifiers provide a timing signal representing gamma ray photon detection in individual SiPM, a block timing channel that creates a summed signal from all SiPMs, and generates a block timing signal and a validation signal, an energy channel that generates a summed energy signal and a two-dimensional position of the gamma ray photon detection in the block, and a control logic/processing circuit that performs a time stamp estimation method. Methods of determining the radiation event timing and a non-transitory computer-readable medium containing computer-readable instructions to implement the methods are disclosed.