Press the firm tofu between paper towels to remove excess moisture and drain the chickpeas thoroughly.
In a food processor, combine chickpeas, tofu, hemp hearts, parsley, cilantro, garlic, cumin, coriander, salt, and pepper.
Pulse the mixture until it forms a coarse, moldable dough, being careful not to over-process into a paste.
Form the mixture into 4 or 5 small patties, pressing firmly to ensure they hold their shape.
Heat a non-stick skillet over medium-high heat and sear the patties for 4-5 minutes per side until they develop a golden-brown crust.
In a small bowl, whisk together the Greek yogurt, tahini, and lemon juice until the sauce is smooth and creamy.
Arrange the fresh spinach on a plate, top with the warm falafel patties, and drizzle generously with the tahini sauce.