Preheat your oven to 400°F and line a baking sheet with parchment paper. Lightly spray with olive oil cooking spray.
In a food processor, combine the cooked chickpeas, shelled edamame, and firm tofu. Blend until roughly pureed, leaving some texture for a hearty bite.
Add the fresh parsley, cilantro, garlic, ground cumin, ground coriander, baking powder, salt, and pepper. Pulse until the herbs are well incorporated but the mixture still holds some chunkiness.
Lightly form the mixture into small patties or balls, about the size of a golf ball, and place them evenly on the prepared baking sheet.
Bake for 20-25 minutes, flipping halfway through, until the falafel are golden and crispy on the edges.
While the falafel are baking, prepare the lemon tahini drizzle. In a small bowl, whisk together tahini, lemon juice, water, and a pinch of salt until smooth and creamy. Adjust the water to achieve your desired drizzle consistency.
Once baked, remove the falafel from the oven and drizzle the lemon tahini sauce over the top or serve on the side for dipping.
Enjoy your crispy baked herb falafel as a versatile meal option for breakfast, lunch, or dinner.