Faceted search and querying are the two main paradigms to search the Semantic Web. Querying languages, such as SPARQL, offer expressive means for searching knowledge bases, but they are difficult to use. Query assistants help users to write well-formed queries, but they do not prevent empty results. Faceted search supports exploratory search, i.e., guided navigation that returns rich feedbacks to users, and prevents them to fall in dead-ends (empty results). However, faceted search systems do not offer the same expressiveness as query languages. We introduce semantic faceted search, the combination of an expressive query language and faceted search to reconcile the two paradigms. The query language is basically SPARQL, but with a syntax that better fits in a faceted search interface. A prototype, Camelis 2, has been implemented, and a usability evaluation demonstrated that semantic faceted search retains the ease-of-use of faceted search, and enables users to build complex queries with little training.