Cook lentils according to package directions. Let cool to room temp.
Preheat oven to 350°.
Pulse lentils, fresh cilantro and parsley including stems, avocado, jalapeno, garlic, lemon juice, and salt in a food processor until combined. This is best done in batches.
Stir together pulsed mixture and slowly fold in flour. Mixture will be soft and wet.
Scoop falafels onto a baking sheet lined with parchment paper, about a scant 1/4 cup each.
Bake at 350° for 20 minutes, until tops are just beginning to brown.
Turn over and bake for an additonal 5 minutes. Serve.
For any remaining falafel not served or eaten, let completely cool before storing in fridge or freezer.