01 - In a large bowl, whisk together sweetened condensed milk, Greek yogurt, key lime juice, lime zest, vanilla, and salt until smooth.
02 - In a separate chilled bowl, whip the heavy cream to stiff peaks using an electric mixer or whisk.
03 - Gently fold whipped cream into the lime mixture until just combined and smooth. Line a 9x9-inch pan with parchment paper, pour in the ice cream base, level the surface, and freeze for at least 4 hours, until firm.
04 - Set oven temperature to 350°F. Line a baking sheet with parchment paper.
05 - In a mixing bowl, combine graham cracker crumbs, flour, baking powder, and salt.
06 - In another bowl, beat unsalted butter and brown sugar until light and fluffy. Add the egg and vanilla extract, mixing until incorporated.
07 - Gradually add the dry ingredients to the wet mixture, stirring just until a uniform dough forms.
08 - Portion dough into 16 tablespoon-sized balls, arrange on the prepared baking sheet, and flatten each slightly. Bake for 8-10 minutes until golden. Transfer to a rack to cool completely.
09 - Remove ice cream from the pan and use a round cookie cutter matching the cookie size to cut out 8 discs.
10 - Place each ice cream disc between two graham cracker cookies. Serve immediately or wrap individually and freeze until ready to enjoy.