Soak the dried chickpeas: Place the dried chickpeas in a large mixing bowl, along with the baking soda. Fill the bowl with cold water, ensuring there's at least 2 inches of water above the chickpeas. Soak the chickpeas for 18-24 hours at room temperature, possibly longer if they're exceptionally hard. Note that the chickpea water, also known as aquafaba, has numerous uses so you may wish to save it.
Make the falafel mix: Drain the soaked chickpeas and pat them dry with a kitchen towel. In a food processor, combine the chickpeas, chopped onion, peeled garlic cloves, fresh parsley leaves, fresh cilantro leaves, baking powder, ground cumin, ground coriander, ground black pepper, and salt. Pulse the mixture until it's finely minced but not pureed. Scrape the sides of the bowl as needed. The mixture is ready when a pressed handful holds its shape and doesn't crumble. Transfer the falafel mixture to an airtight container and refrigerate it for at least 15minutes. You can prepare this mixture ahead of time and store it in the fridge for 2-3 days.
Shape the falafel balls: Add the sesame seeds and baking powder to the falafel mix. Mix. Using a small ice cream scoop or a ¼ cup measuring cup, scoop out portions of the cold falafel mix and shape them into balls. The uniform size ensures even cooking.
Fry the falafel balls: In a small deep skillet or dutch oven, pour at least an inch of oil for frying. Heat the oil over medium-high heat until it reaches a temperature of at least350°F (175°C). Carefully add the falafel balls to the hot oil, a few at a time, to avoid overcrowding the skillet. Fry them until they turn a dark, golden brown color all over, gently flipping as needed for even cooking. Place with on paper towel so that the falafel has less oil. Serve immediately.