Cover chickpeas in cold water, with at least 3 inches of water above them. Soak overnight.
Drain chickpeas, fill a pot with fresh water, add soaked chickpeas and bring it to a boil.
As soon as it comes to a boil, turn down the heat to medium low and let the chickpeas simmer for 30 - 45 minutes. (Fresher chickpeas will not take as long as older chickpeas, check the date on your beans).
Turn off the heat and let the chickpeas (and water) cool for 30 minutes. Drain chickpeas well and set aside.
Preheat oven to 350°F. Oil a baking sheet using 2 tbsp olive oil, set aside.
In the bowl of a food processor, add chickpeas, parsley, cilantro, onion, garlic, coriander, cumin, salt, pepper, baking soda, flour and lemon zest, juice and cayenne, if using.
Pulse until incorporated but not fully pureed.
Pinch off a little bit of the dough to make a small patty and fry it in a pan to taste for seasoning. If it needs more salt, pepper, cumin, etc... now is the time to add it.
Portion approximately 2 ounces of falafel mix and using your hands, form into small patties.
Place the patties on the baking sheet and bake for 25 minutes, flipping halfway through, until crispy and golden brown.