In a food processor, pulse the cooked chickpeas, hemp seeds, parsley, cilantro, garlic, red onion, cumin, coriander, sea salt, and black pepper until a coarse meal forms, being careful not to over-process into a paste.
Scoop the mixture and form into 6 even patties, pressing firmly with your hands to ensure they hold their shape.
Heat the olive oil in a large non-stick skillet over medium heat.
Place the patties in the skillet and cook for 4-5 minutes per side until they are golden-brown and crispy on the outside.
While the falafel cooks, whisk together the Greek yogurt, tahini, 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.