Preheat your oven to 400°F (200°C) and line a baking sheet with parchment paper. Lightly spray the parchment with olive oil cooking spray.
In a food processor, combine the chickpeas, red onion, garlic cloves, fresh parsley, and cilantro. Pulse until roughly blended but still retaining some texture.
Add the chickpea flour, ground cumin, ground coriander, baking powder, salt, and pepper. Pulse a few more times until the mixture holds together. If it feels too loose, let it rest for 10 minutes to allow the flour to absorb moisture.
Using your hands, shape the mixture into small patties or balls (about 1.5 inches in diameter) and place them evenly on the prepared baking sheet.
Bake the falafel in the preheated oven for about 20 minutes, turning them halfway through to ensure they crisp evenly on all sides.
While the falafel is baking, prepare the lemon-herb tahini sauce by whisking together tahini, lemon juice, a minced garlic clove (optional), a pinch of salt, and a little water to achieve your desired consistency.
Once baked and crispy, remove the falafel from the oven. Plate them and drizzle with the lemon-herb tahini sauce. Top with a dollop of nonfat Greek yogurt for extra creaminess and an additional protein boost.
Serve warm and enjoy your flavorful, healthy meal!