Place chickpeas, parsley, garlic, onions and cilnatro in food processor and pulse until a fine mixture. Add seasonings, baking soda, sesame seeds and flour. Cover with plastic wrap and allow to rest for 20 minutes.
Using a 1 tablespoon scope (this sizing is important) scoop falafel and place on a parchment lined baking sheet. Place in freezer for 10 minutes to set. Remove from freezer and gently press centers.
Heat oil to 350 degrees F. Drop falafel in hot oil. Fry until brown and cooked thru-about 6 minutes.
Remove from oil and drain on paper towel. Serve with Tahini sauce and vegetables and enjoy :)