Preheat oven to 400 degrees F. Place a baking sheet in to the oven.
Combine all falafel ingredients, including the Chickpea Salad, in the bowl of a food processor fitted with the blade attachment. Pulse mixture until coarsely ground.
Using your hands, form the falafel mixture into balls about the size of walnuts and set aside. If the falafel mixture sticks to your hands dip them in cold water in between rolling each ball.
Remove the baking sheet from the oven and spray with nonstick cooking spray. Place the falafel onto the sheet pan and bake for 15 to 20 minutes, turning halfway through the cooking, to brown on both sides.
Place on a serving platter and serve with yogurt sauce on the side.
Add all the sauce ingredients to a small bowl and combine well.
Combine all ingredients in a large mixing bowl and toss to combine.