US citizen connecting thru Beijing to Singapore 36 hour layover, can I enter Beijing without VISA?

My husband and I wanted to stay at a hotel in Beijing instead of the airport but we do not have a Chinese VISA and we do not have time to get one. We arrive Beijing 15th 9:45pm and Depart Beijing for Singapore 17th 10am is this possible without one? A travel agent said yes and one said no. HELP!
Thank you,
J