Add chickpeas, parsley, shallot, garlic, sesame seeds, cumin, coriander, salt, cayenne pepper, and baking soda to a food processor or blender and mix/pulse to combine, scraping down sides as needed until thoroughly combined.
Add flour 1/4 cup (60 mL) at a time and pulse/mix to combine until no longer wet and you can mold the dough into a ball without it sticking to your hands.
Shape the mixture into 12 small even balls. Cover and refrigerate for one to two hours to firm up.
Preheat oven to 400 F (205 C). Pre-heat a 12 muffin tin in the oven for 25 minutes.
Carefully remove the tin from the oven and add a few drops of oil to each muffin slot, then add the balls of the chickpea mixture to the hot, oiled tin; ideally there will be a bit of a sizzle.
Bake the falafels for ten minutes, flip them over, then bake another ten minutes until browned on the outside and fully cooked inside. Rest for ten minutes, then serve warm with tahini sauce, pita, hummus, tabbouleh, baba ghanoush, olives, cheese, lettuce, tomatoes, and onions.
In a medium bowl, combine the garlic and lemon juice. Let the mixture rest for ten minutes, giving the garlic time to infuse the lemon juice with flavour.
Add the tahini, salt, cayenne, and cumin to the bowl and whisk together.
Add water 2 tablespoons (30 ml) at a time, whisking after each addition until smooth. After about 8 tablespoons (120 ml), the sauce should be perfectly creamy, smooth, and light-colored. If preferred, add more water for a thinner sauce.