Place all ingredients in a food processor and process until mostly smooth. You will have to stop food processor and scrape down sides a few times. Scoop out contents and place in a medium bowl.
Form into 12 balls, and press down with fingers to create little falafel patties.
Bake for 10 minutes, then flip and bake for 10 more on the other side.
Serve with a tahini sauce (mix 2 Tbsp. tahini with lemon juice, water and ½ Tbsp. miso paste), or hummus, or however you like!