With an oven rack in the middle position, preheat oven to 375 degrees Fahrenheit. Coat a large, rimmed baking sheet or large cast-iron skillet with tablespoons of olive oil.
In a food processor, combine the soaked and drained chickpeas, red onion, parsley, cilantro, 2 tablespoons olive oil, garlic, cumin, cinnamon, salt, and pepper. Process until smooth, about 1 minute.
Using your hands, scoop out about 2 tablespoons of the mixture at a time. Shape the falafel into small patties, about 2 inches wide and ½ inch thick. Place each falafel on your oiled pan or skillet.
Bake for 13 minutes, then remove the falafel from the oven and carefully flip each one. Return the pan(s) to the oven for another 13 to 15 minutes, until the falafels are lightly browned on both sides.
Serve with Greek salad and balsamic vinegar.