Rinse and drain the chickpeas, then pat them completely dry with a paper towel to ensure a crisp texture.
Place the chickpeas, egg, hemp hearts, parsley, cilantro, garlic, cumin, coriander, salt, and pepper into a food processor.
Pulse the mixture until it forms a thick, coarse paste that holds together when pressed between your fingers.
Shape the mixture into 6 even patties and let them rest in the refrigerator for 10 minutes to firm up.
Heat the avocado oil in a large non-stick skillet over medium heat.
Cook the patties for 4 to 5 minutes per side until they are golden-brown and firm.
Whisk the Greek yogurt, tahini, and lemon juice together in a small bowl until the sauce is smooth and creamy.
Plate the warm falafel patties and drizzle generously with the lemon-tahini sauce before serving.