Preheat your oven to 400°F (200°C) and line a baking sheet with parchment paper.
In a food processor, combine the drained chickpeas, egg, garlic, red onion, and fresh parsley. Pulse until coarsely blended, keeping some texture for a hearty bite.
Season the mixture with salt and pepper. Form the mixture into small patties or balls, about the size of a small golf ball.
Place the falafel scoops on the baking sheet. Lightly spray or brush with a little olive oil if desired for extra crispiness.
Bake in the preheated oven for 20-25 minutes, flipping halfway through, until the falafel are firm and lightly browned.
While the falafel bake, prepare the creamy tahini drizzle by whisking together tahini, Greek yogurt, and lemon juice in a small bowl. Add a pinch of salt and a little water if needed to reach a smooth, drizzable consistency.
For the salad, combine diced cucumber and chopped tomato in a bowl. Drizzle with a little extra lemon juice, season with salt and pepper, and toss gently.
Once the falafel are baked to perfection, serve them topped with the creamy tahini drizzle, alongside the refreshing cucumber tomato salad.