Sprinkle the gelatin over the cold water in a small bowl and let it sit for about 5 minutes.
In a saucepan, whisk together the lemon juice, lemon zest, sugar, and egg yolks.
Cook the mixture over low to medium heat, stirring constantly, until it slightly thickens. Do not allow it to boil.
Add the softened gelatin and stir until completely dissolved.
Remove from the heat and stir in the vanilla extract.
Allow the lemon mixture to cool to room temperature.
In a separate bowl, whip the heavy cream with a pinch of salt until soft peaks form.
Gently fold the cooled lemon mixture into the whipped cream.
Continue folding until the mixture is smooth and evenly combined.
Divide the mousse between six dessert glasses or serving cups.
Cover and refrigerate for at least 2 hours, or until set.
Before serving, top with whipped cream, lemon zest, lemon slices, or fresh mint.
Serve chilled and enjoy.