Drain soaked chickpeas and place them in a food processor.
Add chopped onion, garlic, parsley, and cilantro to the processor.
Blend until a coarse mixture forms; avoid pureeing.
Transfer the mixture to a bowl, then add cumin, coriander, baking powder, salt, and pepper.
Mix well and refrigerate for 1 hour to firm up.
Heat oil in a deep pan to 350°F (175°C).
Form the mixture into small balls or patties.
Fry falafels in batches until golden brown, about 4-5 minutes per side.
Drain on paper towels to remove excess oil.
Serve hot with tahini sauce or in pita bread.