Preheat oven to 400°F (200°C) and line a baking sheet with parchment paper.

In a food processor, combine chickpeas, onion, garlic, parsley, cilantro, cumin, coriander, baking powder, salt, and pepper. Pulse until mixture is coarse but holds together when pressed.

Add 2–3 tablespoons of flour and pulse again to help bind the mixture.

Form the mixture into small patties or balls and place on the prepared baking sheet.

Brush the tops of the falafel with olive oil.

Bake for 20–25 minutes, flipping halfway through, until golden and crisp.

While the falafel bakes, mix Greek yogurt, cucumber, lemon juice, dill (if using), salt, and pepper in a small bowl to make the cucumber yogurt sauce.

Serve the baked falafel warm with the cucumber yogurt sauce.