The investigation of properties of nanoparticles is an important task to pave the way for progress and new applications in many fields of research like biotechnology, medicine and magnetic storage techniques. The study of nanoparticles with ever decreasing size is a challenge for commonly employed methods and techniques. It requires increasingly complex measurement setups, often low temperatures and a size reduction of the respective sensors to achieve the necessary sensitivity and resolution. Here, we present results on how magnetic properties of individual nanoparticles can be measured at room temperature and with a conventional scanning force microscopy setup combined with a co-resonant cantilever magnetometry approach. We investigate individual Co2FeGa Heusler nanoparticles with diameters of the order of 35 nm encapsulated in carbon nanotubes. We observed, for the first time, magnetic switching of these nanoparticles in an external magnetic field by simple laser deflection detection. Furthermore, we were able to deduce magnetic properties of these nanoparticles which are in good agreement with previous results obtained with large nanoparticle ensembles in other experiments. In order to do this, we expand the analytical description of the frequency shift signal in cantilever magnetometry to a more general formulation, taking unaligned sensor oscillation directions with respect to the magnetic field into account.