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CRUST: Put cookie, melted butter and 3 Tbsp milk in a food processor. Mix until crumbs form a ball. If necessary, add more milk, but the mixture should not be soggy. Press crumbs in bottom and up sides of a 9-inch pie dish.
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FILLING: In a small bowl, combine gelatin with 1/4 cup cold water. Let stand 5-10 minutes to bloom.
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Mix pudding, yogurt, sugar, lemon juice, lemon zest and 1 cup of low-fat whipped topping.
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Heat gelatin mixture gently, stirring until dissolved. Add it to lemon filling and stir. Pour into cookie crumbs crust and refrigerate until set.
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TOPPING: Before serving, top with whipped topping.