Preheat oven to 400°F. Coat baking sheet with nonstick cooking spray.
To make falafel, drain chickpeas, reserving ¼ cup liquid. Combine chickpeas, reserved liquid, flour, parsley, ⅓ cup lemon juice, onion, garlic, cumin, ½ teaspoon salt and red pepper in food processor or blender. Process until well blended. Shape mixture into 36 (1-inch) balls; place 1 to 2 inches apart on baking sheet. Refrigerate 15 minutes.
Meanwhile, to make sauce, combine all ingredients in medium saucepan. Simmer over medium-low heat 20 minutes.
Heat oil in large nonstick skillet over medium-high heat. Fry falafel in batches until browned. Place on baking sheet; bake 8 to 10 minutes. Serve with warm sauce.
Hint: Falafel also can be baked completely to reduce fat content. Spray balls lightly with nonstick cooking spray and bake on baking sheet 15 to 20 minutes, turning once.