In a small bowl, whisk together aioli ingredients. Place in the refrigerator. Preheat oven to 400 degrees. Coat a baking sheet fitted with a wire rack with cooking spray. Set aside. Place all falafel ingredients in the bowl of a food processor. Process until smooth paste forms. Place in the refrigerator for at least 1 hour. Form mixture into 2-inch balls and line them on the wire rack. Bake 15 minutes, or until outside is slightly crispy. Serve falafel with spicy lemon aioli.