Make the Crust
Preheat oven to 350°F (175°C).
Combine graham cracker crumbs, sugar, and melted butter in a bowl.
Press firmly into a 9-inch pie plate to form bottom and sides.
Bake for 8–10 minutes until golden, then let cool slightly.
Mix the Filling
In a bowl, whisk together condensed milk, egg yolks, lime juice, zest, and vanilla.
Mix until smooth and creamy.
Bake the Pie
Reduce oven temp to 325°F (165°C).
Pour filling into crust and bake for 15–18 minutes, just until the center has a slight jiggle.
Cool at room temperature, then refrigerate at least 4 hours (overnight is best).
Make the Whipped Topping (Optional)
Beat cream, powdered sugar, and vanilla until soft peaks form.
Spread or pipe onto chilled pie. Garnish with zest or lime slices.