Preheat oven to 350 degrees F.
For the Crust: Spray a 9-inch pie dish with non-stick spray. Combine crushed graham crackers, butter, and sugar in a bowl and mix to combine. Press mixture into the prepared pie plate. Bake in the preheated oven for 8 minutes and set aside to cool.
For the Pie Filling: Using a mixer (stand or hand mixers), mix both cans of sweetened condensed milk, egg yolks, lemon juice, lemon extract, and salt together. Beat on medium speed for 4-5 minutes.
Pour mixture into the baked pie crust and bake for 10-15 minutes at 350. (Little bubbles will start to surface; cover the crust if it starts to brown too much towards the end. It should only slightly jiggle in the center) Let pie stand at room temperature for 30 minutes.
Chill in the refrigerator for at least an hour before serving.
For the Whipped Cream: Mix the cream, sugar, and vanilla. Whip until fluffy, and add to cooled lemon pie. You can either smooth it over the entire pie (if the pie will be completely consumed that same day) OR add it to individual pie servings (if the pie won't be eaten all the same day). Do not add cream to the entire pie if you plan on having leftovers as the cream gets watery after being stored. Refrigerate any pie leftovers. If desired garnish slices with lemon zest, a lemon slice, and/or fresh mint. Enjoy right out of the fridge!