General-purpose massively parallel processors, such as GPUs, have become common, but are difficult to program. Pure functional programming can be a solution, as it guarantees referential transparency, and provides useful combinators for expressing data-parallel computations. Unfortunately, higher-order functions cannot be efficiently implemented on GPUs by the usual means. In this paper, we present a defunctionalisation transformation that relies on type-based restrictions on the use of expressions of functional type, such that we can completely eliminate higher-order functions in all cases, without introducing any branching. We prove the correctness of the transformation and discuss its implementation in Futhark, a data-parallel functional language that generates GPU code. The use of these restricted higher-order functions has no impact on run-time performance, and we argue that we gain many of the benefits of general higher-order functions, without in most practical cases being hindered by the restrictions.