Preheat the oven to 350°F.
Spray a jelly roll pan with nonstick spray.
Combine the crushed graham crackers, sugar, melted butter, and lime zest in a large bowl.
Pour the graham cracker mixture into the prepared pan.
Press the mixture down until it forms an even layer.
Bake the crust for 8 to 10 minutes.
Whisk the condensed milk, egg yolks, lime juice, lime zest, and vanilla extract together until smooth to make the filling.
Pour the filling over the baked crust.
Bake the pie for 15 to 20 minutes.
Allow the pie to cool to room temperature for about 1 hour.
Chill the dessert in the refrigerator for at least 4 hours.
Slice the pie into portions.
Top each slice with a dollop of Cool Whip, lime zest, and a lime wedge.
Serve the pie chilled.