Drain and rinse the chickpeas, then pat them completely dry with a paper towel to ensure a crispy texture.
In a food processor, combine the dried chickpeas, crumbled firm tofu, hemp hearts, nutritional yeast, fresh parsley, garlic, cumin, coriander, sea salt, and black pepper.
Pulse the mixture until it is well combined but still slightly coarse; avoid over-processing into a smooth paste.
Divide the mixture and form into 4-5 small, even patties.
Heat the olive oil in a non-stick skillet over medium heat and sear the patties for 4-5 minutes per side until they are golden brown and crispy.
While the falafel is cooking, whisk together the Greek yogurt, tahini, and lemon juice in a small bowl until the sauce is smooth and zesty.
Arrange the baby spinach on a plate, top with the warm falafel patties, and finish with a generous drizzle of the tahini-yogurt sauce.