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Rinse garbanzo beans and place in a bowl. Cover with about 6 cups fresh water.
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Soak garbanzo beans for at least 4 hours, up to 24 hours.
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After soaking, drain and rinse beans.
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Lay beans on a clean dry towel and allow to dry.
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While beans are drying, prepare onion, cilantro and garlic.
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Place beans in a food processor and add remaining ingredients EXCEPT FOR BAKING POWDER.
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Pulse until mixture resembles very tiny gravel.
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Pour mixture into a medium mixing bowl.
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At this point you can cover and refrigerate until you are ready to cook the falafel. (I have refrigerated up to 4 hours and not refrigerated at all and I found no difference in the outcome.)
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Just before you are ready to form the falafel, sprinkle mixture with baking soda and mix well.
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Make the falafels by scooping a small palm full in your hands and gently form patties about 1/2 inch thick.
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Prepare a large skillet by pouring about a half an inch of oil (I used grapeseed) and heat over medium until shimmering.
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Fry falafel for 2-3 minutes per side until golden.
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Dry on paper towels and transfer to warm oven until ready to serve.
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Falafel can be stored in refrigerator for 2-3 days, reheated in a toaster oven.