Preheat oven to 400°F and line a baking sheet with parchment paper.
Pulse chickpeas, hemp seeds, parsley, cilantro, garlic, cumin, coriander, salt, and pepper in a food processor until combined but still textured.
Shape the mixture into 6 small patties and place them on the baking sheet.
Lightly brush both sides of each patty with avocado oil.
Bake for 15 minutes, flip carefully, and bake for another 10 minutes until the edges are golden.
In a small bowl, whisk together Greek yogurt, tahini, lemon juice, and water until the sauce is creamy and pourable.
Plate the warm falafel and finish with a generous drizzle of the lemon-tahini sauce.