Preheat your oven to 350°F (175°C). Line a 9x13-inch baking pan with parchment paper, leaving overhang on the sides to easily lift the bars out later.
In a medium bowl, combine graham cracker crumbs, sugar, and cinnamon (if using). Pour in the melted butter and stir until the mixture resembles wet sand.
Press the mixture firmly into the bottom of your prepared pan, creating an even layer. Use the bottom of a measuring cup to compress the crust.
Bake the crust for 10-12 minutes until it's lightly golden and smells fragrant. Allow it to cool slightly while preparing the filling.
In a large bowl, whisk together the sweetened condensed milk, key lime juice, egg yolks, lime zest, and salt until completely smooth.
Pour the filling over the pre-baked crust, spreading it into an even layer. Return to the oven and bake for 15-18 minutes, until the edges are set but the center still has a slight jiggle.
Allow the bars to cool completely at room temperature (about 1 hour), then refrigerate for at least 2 hours or ideally overnight.
Just before serving, whip the heavy cream with powdered sugar and vanilla extract until stiff peaks form.
Lift the bars from the pan using the parchment paper overhang. With a sharp knife (wiped clean between cuts), slice into 16 bars. Top each with a dollop of whipped cream and additional lime zest.