Add the chickpeas to a food processor along with the scallions, bread crumbs, egg, lemon zest and juice, garlic, cilantro, parsley, tahini, ground coriander, cumin, cinnamon, and cayenne pepper. Season generously with salt and pepper, then blend everything together until you achieve a smooth, uniform paste.
Spoon the mixture into a bowl, cover it well, and let it rest for at least 30 minutes. This resting time allows the flavors to meld and makes the mixture easier to shape.
While the falafel mixture is resting, prepare your sesame yogurt sauce. Mix together the yogurt, oil, lemon juice, and tahini in a small bowl, seasoning with salt and pepper to your liking. Set aside until ready to serve.
Lightly dampen your hands with water to prevent sticking, then take portions of the falafel mixture and roll them into walnut-sized balls. Gently press each ball down to form a patty shape about half an inch thick.
Pour just enough oil into a nonstick frying pan to barely cover the bottom and place over medium-high heat. Once the oil is shimmering hot, add the falafel patties in batches, being careful not to overcrowd the pan. Fry for 2–3 minutes per side until they turn a beautiful golden brown and develop a crispy exterior. Transfer the cooked falafel to a plate lined with paper towels to absorb excess oil.
Arrange the warm falafel on a serving platter, garnish with fresh cilantro sprigs, and serve alongside mini pita breads and the creamy sesame yogurt sauce for dipping.