Preheat oven to 350°F (175°C). Lightly grease a 12-cup muffin tin.
In a medium bowl, combine graham cracker crumbs and sugar. Pour in melted butter and stir until well combined.
Press about 2 tablespoons of the crumb mixture evenly into the bottom and up the sides of each muffin cup to form tart shells.
Bake for 10-12 minutes, or until lightly golden. Let cool completely in the tin.
While the tart shells are cooling, prepare the filling. In a large bowl, whisk together sweetened condensed milk, key lime juice, egg yolks, and key lime zest until smooth.
Carefully pour the key lime filling into each cooled tart shell, filling them about three-quarters full.
Bake for another 12-15 minutes, or until the filling is set but still has a slight jiggle in the center. Avoid overbaking.
Let the tartlets cool in the muffin tin for 10 minutes before carefully removing them to a wire rack to cool completely.
Chill the tartlets in the refrigerator for at least 1 hour before serving. Garnish with whipped cream and lime slices, if desired.
Notes
These tartlets are best served chilled. They can be made a day in advance and stored in the refrigerator.