Preheat oven to 350 F. Line a cookie sheet with parchment paper and set aside.
Cook sorghumAdd groats with 3/4 cup of water in a pot without heat and set aside to soak.
Meanwhile, cook yam until fork tender by steaming, microwaving or boiling. Using hand beaters or a potato masher, blend cooked yam with non-dairy milk until the consistency is like mashed potatoes and set aside.
Return to groats, which should have absorbed some of the water. Bring the pot to a boil and once boiling reduce to low heat and simmer. Continue to cook, uncovered, until all the water is gone, stirring frequently to prevent burning.
Toss garlic, parsley, onion powder, cumin, coriander, chickpea flour, flax seed, and salt in a food processor. Blend until it's very crumbly and spice-like. Mix spice mixture with yam mixture until well combined. Then add in cooked groats.
Drop tablespoon-sized portions on to the cookie sheet. Lightly cover with foil and bake 20 minutes. Flip the balls, and then bake another 20 minutes, or until the outsides are crispy.
While the falafels are baking, make the hummus by placing all the ingredients in a food processor and process until smooth. The consistency should be a thick sauce. You may need to slowly add more water, if needed, for desired consistency. You may top with paprika if desired.
Stuff Swiss Chard leaves or pitas with falafel balls, chopped lettuce and the hummus.