Add all ingredients to a food processor. Process until semi smooth, scraping down the sides as needed. The mixture will still have texture but you should be able to form it into a falafel.
Line a sheet pan with parchment paper. Using your hands and about 2 tablespoons of mixture at a time, form evenly sized falafels.
Bake for 25-30 minutes, until falafels have started to brown.
Enjoy falafels as is, in a salad, with your favorite dip, or in a wrap or sandwich.