Preheat the oven to 400°F and line a baking sheet with parchment paper.
In a food processor, combine the chickpeas, edamame, diced red onion, garlic, and fresh parsley. Pulse until a coarse, grainy mixture forms, ensuring some texture remains.
Add the ground cumin, ground coriander, baking powder, salt, and pepper. Pulse a few more times until the spices are evenly mixed through the mixture.
Form the mixture into small patties or balls, about 3-4 inches in diameter. Place them evenly on the prepared baking sheet.
Lightly spray the patties with olive oil spray. Bake in the preheated oven for about 20-25 minutes, flipping halfway through, until the falafels are firm and slightly crispy on the outside.
While the falafels are baking, prepare the lemon tahini drizzle. In a small bowl, whisk together tahini, lemon juice, and nonfat Greek yogurt until smooth. If needed, add a teaspoon of water to achieve a drizzling consistency.
Once the falafels are done, arrange them on a serving plate and drizzle the lemon tahini sauce over the top.
Serve warm and enjoy your protein-packed, flavorful falafel dish!