01 - In a large bowl, whisk together sweetened condensed milk, Greek yogurt, key lime juice, lime zest, vanilla extract, and a pinch of salt until smooth.
02 - In a separate chilled bowl, whip heavy cream to stiff peaks. Gently fold the whipped cream into the lime mixture until uniform and creamy.
03 - Line a 9x9-inch pan with parchment paper. Pour the ice cream base into the pan, smooth the surface, and freeze for at least 4 hours or until completely firm.
04 - Preheat oven to 350°F (175°C). Line a baking sheet with parchment paper.
05 - In a bowl, combine graham cracker crumbs, all-purpose flour, baking powder, and salt.
06 - In a separate bowl, beat unsalted butter and brown sugar until the mixture is light and fluffy. Add egg and vanilla extract and mix until incorporated.
07 - Gradually mix the dry ingredients into the wet ingredients, stirring until just combined to form the dough.
08 - Scoop 16 tablespoon-sized balls of dough onto the prepared baking sheet. Flatten each slightly and bake for 8 to 10 minutes or until golden. Allow cookies to cool completely.
09 - Once frozen, use a round cookie cutter matching the cookie size to cut out ice cream discs from the pan.
10 - Sandwich each ice cream disc between two graham cracker cookies. Serve immediately or wrap individually and freeze until needed.