Place the chickpeas, chopped onion, garlic, toasted cumin and coriander, parsley, and cilantro into a food processor. Pulse several times until the mixture is coarse but still has some texture, resembling a chunky paste.
Add the flour or breadcrumbs and lemon juice to the mixture. Pulse a few more times until it starts to come together; it should be moist but hold its shape when pressed. If it feels too loose, sprinkle in a bit more flour.
Transfer the mixture to a bowl and refrigerate for about 30 minutes. This helps it relax and makes shaping easier.
Preheat your oven to 200°C (390°F). Line a baking sheet with parchment paper or lightly spray with oil to prevent sticking.
Using wet hands or a cookie scoop, shape the mixture into small patties or balls about 2 inches wide. Place each piece evenly spaced on the prepared baking sheet.
Sprinkle sesame seeds on top of each falafel for a nutty crunch. Lightly spray or brush the falafel with olive oil for a golden finish.
Bake in the oven for 20-25 minutes, turning once halfway through, until the falafel are golden brown and fragrant. They should crack slightly on top and feel firm when pressed.
Remove from the oven and let rest for 5 minutes on the baking sheet. This helps firm up the exterior and makes handling easier.
Serve warm with pita, tahini, or a yogurt sauce. The falafel should be crispy outside, tender inside, and aromatic with cumin, garlic, and herbs.
