I usually recommend pressure cooking legumes for more nutrition retention and speed of cooking. Cooking this for about 2 whistles in pressure cooker (about 10 minutes) works great. The need is to have a soft texture yet with the chickpeas retaining its shape.
Otherwise you can cook this on stove top like I have done this time (My pressure cooker has gone kaput!) If soaked overnight ( or even longer), the cooking time on the stove top to get that right bite is only about 10-15min. It took me 15 mins on high heat (in my electric stove) to bring that correct texture I wanted. What you got to do, is to drain the soaked chickpeas, place it on a skillet, add 1-1/2 cups of water, bring it to high boil and let cook. In the middle add some salt to the water.You know its done when it is soft yet has a bite to it.
oh sure. Will def. be happy to share with attribution
Yes one sure can, as I mentioned as a reply in my third comment.
Yes you can of course use canned chickpeas too. Just add them once you get the mustard seeds, black gram and chillies on the skillet. But to get that authentic beach type / traditional sundal taste, soaking and cooking it 'al dente' (if you can even use this term for these!) would be the best way :)
Happy Dussera dear Pavani :)