A novel spectrally efficient pulse shaping technique for space shift keying (SSK) in single radio frequency (single-RF) antenna systems is proposed. This technique is important since a key issue often overlooked in most single-RF systems, including SSK, is pulse shaping. The proposed pulse shaping technique is based on using an electronically steerable parasitic array radiator (ESPAR). It can avoid the bandwidth expansion arising from switching in SSK while enhancing spectral efficiency (SE) compared to conventional time-limited pulse shaping. In the proposed approach, we pulse shape the parasitic loads of the antennas in the ESPAR by using pulse shaped baseband control voltages to continuously vary the parasitic loads. This is enabled by developing an approximate linear mapping from the baseband control voltages to the ESPAR element currents. Simulation results of the proposed technique are provided, including the continuous-time ESPAR current and its power spectrum density, adjacent channel power ratio, symbol error rate (SER), SE, and energy efficiency (EE). It is shown that the proposed technique can perform spectrally efficient pulse shaping for beamspace SSK and achieve higher SE and EE than time-limited pulse shaping while maintaining the same SER.