Steps:

Preheat the oven to 400°F (200°C). Line a baking sheet with parchment paper.
In a food processor, combine the chickpeas, onion, garlic, parsley, cilantro, cumin, coriander, baking powder, and salt. Pulse until the mixture is coarsely blended, scraping down the sides as needed.
Using your hands, form the mixture into small balls or patties and place them on the prepared baking sheet. Brush or spray the tops with olive oil and sprinkle with sesame seeds.
Bake in the preheated oven for 25-30 minutes or until golden brown and crisp, turning halfway through.
While the falafel is baking, prepare the tahini sauce. In a small bowl, combine the tahini, lemon juice, water, minced garlic, and salt; whisk until smooth.

Baked Falafel with Tahini Sauce