In a large mixing bowl, combine lean ground beef, finely chopped onion, minced garlic cloves, and chopped fresh cilantro. Add ground cumin, ground coriander, and paprika along with salt and pepper to taste. Mix everything thoroughly with hands until fully incorporated.

With moistened hands, shape portions of the beef mixture into 1-inch thick oblong patties or skewers. Place them on a plate to rest while preparing the grill.

Preheat your grill to medium-high heat, around 400°F (200°C). Lightly oil the grates with a paper towel dipped in cooking oil.

Place the koftas onto the heated grill and cook for about 5 minutes on each side until golden-brown. Use a meat thermometer to check for doneness; it should reach 160°F (70°C).

In a separate bowl, mix Greek yogurt, fresh lemon juice, and chopped dill or mint. Stir well to combine and season with salt and pepper. Let the sauce sit for about 10 minutes.

Serve the grilled koftas hot alongside the creamy yogurt sauce and sides like warm pita or rice.