Preheat your oven to 400°F and line a baking sheet with parchment paper.
Place the rinsed chickpeas, hemp hearts, parsley, cilantro, garlic, cumin, coriander, salt, and pepper into a food processor.
Pulse the mixture until it is well combined but still has a slightly coarse, crumbly texture.
Scoop the mixture and form into 6 even patties, then brush both sides with the extra virgin olive oil.
Arrange the patties on the baking sheet and bake for 20 to 25 minutes, flipping halfway through until they are golden and firm.
In a small bowl, whisk together the Greek yogurt, tahini, and lemon juice until the sauce is smooth and creamy.
Serve the warm falafel patties over a bed of chopped cucumber and cherry tomatoes, finishing with a generous drizzle of the tahini sauce.