In a food processor, pulse the shelled edamame, fresh parsley, cilantro, garlic, cumin, sea salt, and black pepper until a coarse, vibrant green meal forms.
Transfer the mixture to a bowl and fold in the egg and hemp hearts until the dough is well combined and holds its shape.
Form the mixture into 4 small patties, pressing firmly to ensure they stay together during cooking.
Heat the olive oil in a non-stick skillet over medium heat and sear the patties for 4-5 minutes per side until a golden-brown crust develops.
While the falafel cooks, whisk together the tahini, plain Greek yogurt, and lemon juice in a small bowl until the sauce is smooth and creamy.
Serve the warm falafel patties immediately, drizzled generously with the zesty tahini sauce.