01 - Preheat oven to 350°F. Line an 8-inch square baking pan with parchment paper, allowing overhang on sides for easy removal.
02 - Combine graham cracker crumbs, granulated sugar, melted butter, and salt in a medium bowl. Mix until texture resembles wet sand.
03 - Press crust mixture firmly and evenly into bottom of prepared pan. Bake for 8 minutes until lightly set. Remove from oven and cool slightly.
04 - Whisk egg yolks in a large bowl until slightly thickened, approximately 1 minute. Add sweetened condensed milk and whisk until smooth.
05 - Stir in key lime juice, zest, green food coloring if desired, and milk. Mix until fully combined and creamy consistency achieved.
06 - Pour filling over cooled crust and spread evenly. Bake for 14 minutes until center is set but slightly jiggly.
07 - Cool bars to room temperature, then refrigerate for at least 2 hours until fully chilled and completely set.
08 - Lift bars from pan using parchment overhang. Cut into 16 equal squares. Garnish with whipped cream and lime zest if desired. Serve chilled.