Prepare Ingredients : Drain chickpeas and roughly chop onion, garlic, parsley, and cilantro.
Blend Falafel Mixture : In a food processor, pulse chickpeas, onion, garlic, herbs, cumin, coriander, cayenne, salt, and pepper until well combined but still slightly coarse. Avoid over-blending.
Add Flour : Mix in 2–3 tablespoons of flour to bind the mixture. Adjust if mixture feels too wet.
Shape Falafel : Form the mixture into 12 evenly sized balls or small patties.
Prepare Baking Sheet : Line a baking tray with parchment paper and lightly brush falafel balls with olive oil.
Bake : Bake in preheated oven at 400°F (200°C) for 25 minutes, flipping halfway through for even browning.
Prepare Tahini Sauce : In a bowl, whisk together tahini, lemon juice, minced garlic, water, and salt until smooth. Adjust thickness with water if needed.
Serve : Plate baked falafel balls with tahini sauce for dipping or drizzle sauce over falafel.