Place the chickpeas, edamame, hemp hearts, parsley, cilantro, garlic, cumin, salt, and pepper into a food processor.
Pulse the mixture until it forms a coarse, uniform meal that holds together when pinched, being careful not to over-process into a paste.
Divide the mixture and shape into 4 to 5 small patties, pressing firmly with your hands to ensure they stay intact.
Heat the olive oil in a large non-stick skillet over medium heat.
Add the patties to the skillet and sear for 3 to 4 minutes per side until a golden-brown crust forms.
While the falafel cooks, whisk together the Greek yogurt, tahini, and lemon juice in a small bowl until smooth.
Plate the warm falafel patties and drizzle generously with the zesty tahini sauce before serving.