Set waffle iron to medium-high.
In a medium bowl, mix together falafel mix, water, chickpeas, oil and parsley. Season with salt and pepper, and let stand for 15 minutes.
Evenly pour the falafel mix over the waffle maker. Close the waffle maker and cook 5 minutes.
In a medium bowl, mix together tahini, garlic and lemon. Pour in a few dashes of water until the mixture loosens a bit. Season with salt and pepper.