Preheat your oven to 400°F and line a baking sheet with parchment paper.
In a food processor, combine chickpeas, red onion, garlic, fresh parsley, fresh cilantro, cumin powder, and baking powder. Pulse until the mixture is coarsely blended while retaining some texture.
Transfer the mixture to a bowl, season with a pinch of salt, and gently mix in the olive oil.
Using your hands, form the mixture into small patties or balls (about 4-6 pieces) and place them on the prepared baking sheet.
Bake in the preheated oven for 20-25 minutes, flipping halfway through, until the falafel are crispy and slightly golden.
While the falafel is baking, prepare the lemon tahini drizzle by whisking together tahini, lemon juice, and a splash of water until smooth and slightly runny. Adjust seasoning with salt to taste.
Serve the crispy baked falafel drizzled with lemon tahini alongside a side of nonfat Greek yogurt for an extra protein boost and creamy finish.