Heat the olive oil in a large skillet over medium-high head.
Add the onion and saute until slightly softened, about 3 minutes.
Add the garlic, chick peas, cumin, coriander, cayenne pepper and cinnamon, then sauté until the spices are fragrant, about 3 minutes more. Let cool slightly.
Transfer the chick pea mixture to a food processor. Add the salt, herbs, egg and tahini (or almond / sunflower butter), then puree until combined, but still slightly chunky.
Add the quinoa and pulse until just combined. If the mixture is hot, let it cool down and thicken a bit before forming patties.
Use a cookie scoop or small ice cream scoop (you can also use a spoon) to form balls roughly 2 heaping tablespoons in size. Use your hands to form them into discs until you've used up all of the mixture.
Preheat the oven to 425 degrees, then brush an unlined sheet pan with a light coating of olive oil. I usually like to line my pans with parchment paper for easier clean-up, but the falafel get crispier without it.
Place each falafel disc on the pan, then brush the tops with olive oil (you can also spray with an olive oil spray).
Bake for 10-15 minutes or until browned on the bottom, then flip to the other side and bake for another 10-15 minutes.