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Preheat the oven to 400 degrees F.
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Add chickpeas, flour, garlic, onion, zest, parsley, and spices to a food processor. Puree until almost smooth—you still want to see some chickpeas.
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Drizzle a little bit of olive oil in the bottom of a large baking dish. Form the falafel mixture into six small patties that are about two inches in size. Place the patties into the dish. Bake for 15 minutes until golden and crispy.
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Remove the falafels from the dish and place on a plate off to the side. Pour the marinara into the baking dish. Return the falafel to the pan, cover with cheese. Bake for another 2-3 minutes until the cheese melts.