Step 1: Preheat Oven ; Preheat oven to 400°F (200°C). Line a baking sheet with parchment paper or lightly grease it.
Step 2: Prepare Falafel Mixture : In a food processor, combine chickpeas, onion, garlic, parsley, cilantro, cumin, coriander, salt, pepper, and cayenne. Pulse until a coarse, slightly chunky mixture forms.
Step 3: Add Flour and Baking Powder : Transfer mixture to a bowl. Mix in flour and baking powder. Let sit for 5 minutes to firm up.
Step 4: Shape Falafel Balls : Form mixture into 1–2 inch balls (about 16 balls). Place on the prepared baking sheet. Brush or spray lightly with olive oil.
Step 5: Bake : Bake for 25–30 minutes, flipping halfway through, until golden and crispy on the outside.
Step 6: Prepare Yogurt Sauce : While falafel bakes, mix Greek yogurt, lemon juice, olive oil, garlic, dill, salt, and pepper in a small bowl. Chill until ready to serve.