Place the dried chickpeas in a large bowl filled with water and top by 3 inches. Soak for at least 12 hours. The chickpeas will double in size after soaking.
Drain, rinse and dry the soaked chickpeas. Add them to the bowl of a large food processor with a fitted blade along with the chopped onion, garlic cloves, chopped parsley and cilantro. Pulse the ingredients together until they turn into fine crumbs then add all the Seasoning ingredients as well as the lemon juice. Blend everything together by scraping down the sides as needed.
Transfer the mixture to a large bowl, cover and refrigerate for 1 hour.
At the time of frying, add the baking powder and baking soda to the falafel mixture. Mix well with a wooden spoon or in the bowl of a kitchen aid fitted with a mixing paddle. Place the sesame seeds in a small bowl.
Use an ice cream scoop or your hands to spoon 2-3 inch round falafel balls. Dip each ball in the sesame seeds and arrange them on a flat tray.
Fill a frying pan with 3 to 4 inches of oil, heat on medium heat until the oil becomes hot.
Gently place the falafel balls in the oil and avoid overcrowding the pan. Fry for 5 to 6 minutes by flipping them halfway through until they become crispy and the color turns golden brown.
Remove the falafel balls from the oil and drain them on paper towels or in a colander.
Serve the falafel stuffed in pita bread or with a green salad.