Drain and rinse the chickpeas. Place them, along with the cilantro leaves, parsley leaves, onion, and garlic cloves in a food processor and process until a uniform granular texture is formed.
Add the sesame seeds, chickpea flour, baking soda, and spices. Mix everything again and gradually add the water until you have a moist, paste-like texture. It will be very thick and moldable.
Fill a small pot with 1-2" of frying oil and heat over medium heat.
Using your hands, ice cream scoop, or falafel scoop form the falafel mixture into small balls about 2 tablespoons in size. When the oil is hot, add 3-4 balls to the oil and fry for 2-3 minutes, until nicely browned. Remove them to a paper towel-lined bowl or plate. Repeat until all the falafel is cooked.
Serve the falafel immediately with some tahini, salad, and/or pita bread.