Follow these detailed steps carefully to create perfectly baked, flavorful, and structurally sound falafel. The process involves some planning, particularly the overnight soak, but the active preparation is straightforward and rewarding.

Part 1: Preparing the Falafel Mixture

1. 1. Soak the Chickpeas: This is the foundational step and cannot be skipped. Place the dried chickpeas in a large bowl and cover them with at least 3-4 inches of cold water. They will triple in size, so be generous with the water. Let them soak on the counter for at least 12 hours, or overnight. For best results, aim for a full 18-24 hours. After soaking, drain the chickpeas thoroughly and pat them dry with a clean kitchen towel or paper towels. They should feel firm to the touch, not soft or mushy like canned chickpeas.
   2. Combine Ingredients in Food Processor: Transfer the soaked and dried chickpeas to the bowl of a large food processor. Add the chopped onion, peeled garlic cloves, fresh parsley, fresh cilantro, ground cumin, ground coriander, red pepper flakes (if using), sea salt, and black pepper.
   3. Pulse to the Right Consistency: This is a critical technique. You want to pulse the mixture, not blend it continuously. Pulse in short bursts for about 1-2 minutes total, scraping down the sides of the bowl as needed. The final texture should be coarse and crumbly, resembling the consistency of coarse sand or couscous. Over-processing will turn it into a paste, resulting in dense, gummy falafel. The mixture should hold together when you squeeze a small amount in your hand.
   4. Add Binder and Leavening: Sprinkle the baking powder and flour over the mixture in the food processor. Pulse just a few more times—5 to 6 short pulses—to incorporate these final ingredients evenly. Do not overmix at this stage.
   5. Chill the Mixture: Transfer the falafel mixture to a bowl, cover it with plastic wrap, and refrigerate for at least 1 hour, or up to 24 hours. This chilling step is non-negotiable. It allows the flavors to meld and, more importantly, helps the starches in the chickpeas to firm up, making the mixture easier to shape and preventing the falafel from falling apart during baking.

Part 2: Baking the Falafel

1. Preheat and Prepare: When you’re ready to bake, preheat your oven to 400°F (200°C). Line a large baking sheet with parchment paper for easy cleanup and to prevent sticking.
2. Shape the Falafel: Remove the chilled mixture from the refrigerator. Take about 2 tablespoons of the mixture at a time and form it into small patties, about 2 inches in diameter and ½ inch thick. You can also shape them into traditional balls. A small cookie scoop can help ensure they are uniform in size, which promotes even baking. Place the shaped falafel onto the prepared baking sheet, leaving a little space between each one.
3. Oil and Bake: Lightly brush or spray the tops of the falafel patties with olive oil. This is key to getting them golden and crispy. Bake for 15-20 minutes. The bottoms should be golden brown and firm.
4. Flip for Even Crisping: Carefully remove the baking sheet from the oven. Using a thin spatula, flip each falafel over. Brush or spray the new top side with a little more olive oil. Return the baking sheet to the oven and bake for another 10-15 minutes, or until the falafel are golden brown, crisp on the outside, and cooked through.

Part 3: Making the Tangy Yogurt Dip

1. Combine Ingredients: While the falafel are baking, prepare the dip. In a medium bowl, combine the Greek yogurt, tahini, minced garlic, and lemon juice.
2. Whisk Until Smooth: Whisk the ingredients together until the mixture is completely smooth and creamy. The tahini may cause the mixture to seize up and thicken initially; just keep whisking, and it will smooth out.
3. Adjust and Season: Stir in the chopped fresh mint or dill. If the dip is thicker than you’d like, whisk in a tablespoon of cold water at a time until it reaches your desired consistency. Season with salt and pepper to taste.
4. Chill (Optional): For the best flavor, cover the dip and let it chill in the refrigerator for at least 15-20 minutes before serving. This allows the flavors to meld together beautifully.