Preheat oven to 350°F or 175°C.
In a food processor, combine chickpeas, kale, parsley or cilantro, lemon juice, lemon zest, garlic, flour, oil, cumin, salt, and pepper, and pulse until a textured mixture is formed. Be careful of over processing, the mixture should still have small clumps of chickpeas in it.
Form balls from the falafel mixture. Use palms to flatten into patties.
Line baking sheet with parchment paper and evenly space out falafel patties. Bake for 20 minutes, flipping halfway.
Meanwhile, combine all dressing ingredients in a small bowl and whisk well until combined. Set aside in the fridge.
Add all salad ingredients into a bowl. Toss to combine.
When falafels are cooked, divide salad over plates and top with falafel patties and drizzle with yogurt sauce.