Preheat oven to 375°F (190°C). Line a baking sheet with parchment paper.
Sauté onion and garlic in olive oil until soft and fragrant, about 5 minutes.
Blend lentils, quinoa, oats, sautéed onion/garlic, tomato paste, soy sauce, and spices in a food processor until mostly smooth.
Transfer mixture to bowl, stir in chopped parsley. Chill in the fridge for 10 minutes if too sticky.
Scoop mixture and roll into 1½-inch balls. Place evenly on the baking sheet.
Bake for 25–30 minutes, flipping halfway, until firm and golden.
Serve with marinara, over pasta, in wraps, or however your mood dictates.
