Add soaked chickpeas, parsley, cilantro, onion, and garlic to a food processor.
Pulse until finely ground but not a paste.
Mix in cumin, coriander, paprika, baking soda, flour, salt, and pepper.
Refrigerate the mixture for 30 minutes to firm up.
Shape into small patties or balls.
For baking: Preheat oven to 400°F, brush falafel with oil, and bake for 25 minutes.
For frying: Heat oil in a pan and fry falafel until golden brown, about 3 minutes per side.