In a mixing bowl, combine graham cracker crumbs, sugar, and melted butter. Press the mixture into the bottom of a 9-inch springform pan to form the crust. Chill in the refrigerator while preparing the filling.
In a separate mixing bowl, beat the cream cheese until smooth. Gradually add in the sweetened condensed milk, orange juice, orange zest, and vanilla extract. Mix until well combined.
In another bowl, whip the heavy cream until stiff peaks form. Gently fold the whipped cream into the cream cheese mixture until smooth and well incorporated.
Pour the filling over the prepared crust in the springform pan. Smooth the top with a spatula. Chill the cheesecake in the refrigerator for at least 4 hours or overnight until set.
Before serving, garnish with additional orange zest or whipped cream if desired. Slice and enjoy!