Is there a way to make falafel without deep frying?
Growing up, my mother always used to bake them. They do turn out a bit drier than if you deep-fried them, but not overmuch. They cook for about 15-20 minutes at 400°F (~200 °C), or until golden and crispy on the outside.

Alternately, you can pan-fry them, as other answers have suggested.

Or you can split the difference and oven fry them. If you're unfamiliar, Google can acquaint you with the process. Here's a good NPR article to get you started: http://www.npr.org/templates/story/story.php?storyId=130673515