In a large bowl, combine juice, zest, condensed milk, heavy cream, milk and salt. Stir well until combined. Pour mixture into popsicle molds. Freeze for at least 6 hours, or until completely frozen.
To remove popsicles from molds, dip in warm water for 10 to 30 seconds. Remove from mold and press each side into the graham cracker crumbs. Enjoy!