Preheat the oven to 400F. Line a baking sheet with parchment paper.
Combine yellow squash, bell pepper, tomatoes, onion, olive oil, salt and pepper on the prepared baking sheet then toss to coat everything in the oil and spices. Roast veggies in the oven for 20-30 minutes or until soft.
Meanwhile, combine quinoa and water in a small saucepan then bring the mixture to a boil over medium-high heat. Once boiling, reduce heat to low then cover the pan and let simmer until all liquid has disappeared, about 15 minutes, then fluff with a fork.
Also meanwhile, combine all the “for the falafels” ingredients except the vegetable oil in the bowl of a food processor then pulse until a dough forms, about 1 minute. Using a 1-inch cookie scoop, scoop out falafel dough and roll it into 1-inch round balls.
Add vegetable oil to a large cast iron dutch oven with a candy thermometer attached to the side. Bring the oil to 375F temp over medium-high heat. Once temp has been reached, add ⅓ the falafel balls then fry until golden and cooked through, 2-3 minutes. Remove cooked falafels using a slotted spoon and place them on a paper towel lined plate or baking sheet. Repeat with remaining falafels and you’ll likely have to wait for the oil to comb back up to temp (375F) after the first batch.
Combine cooked quinoa, roasted vegetables, diced mini cucumbers, crumbled feta, lemon juice, dill, and minced parsley to a large bowl then toss to incorporate everything evenly.
Finally, combine all the “for the maple dijon tahini sauce” ingredients in a small jar then shake until smooth.
Divide roasted quinoa veggies between bowls then top with fried carrot falafels and a drizzle of maple dijon tahini sauce then enjoy!