Drain and rinse the chickpeas, then pat them completely dry with a paper towel to ensure a crispy texture.
Place the chickpeas, edamame, parsley, cilantro, garlic, cumin, coriander, salt, and pepper into a food processor.
Pulse the mixture until it is finely minced but not a smooth paste, keeping some texture for the bite.
Transfer the mixture to a bowl and stir in the chickpea flour and baking powder until well combined.
Scoop the mixture and form into four small patties, pressing firmly so they hold their shape.
In a small bowl, whisk together the Greek yogurt, tahini, and lemon juice until the sauce is smooth and creamy.
Heat the olive oil in a non-stick skillet over medium heat and sear the falafel patties for 3 to 4 minutes per side until golden brown.
Spread the zesty tahini-yogurt sauce onto a plate and top with the warm, crispy falafel patties.