1/2 cup chocolate graham cracker crumbs (about 3 whole crackers), divided
In a small bowl, combine gelatin and orange juice; let stand for 5 minutes. Heat milk until boiling; add to gelatin. Cool slightly. Transfer to a blender; cover and process for 30 seconds or until blended. Add the cream cheese, sugar, vanilla and orange zest; process until blended.
Drain oranges, reserving juice; set oranges aside. Add pineapple and reserved juice to gelatin mixture; process until smooth. Fold in whipped topping.
Place half of the oranges in eight parfait glasses. Layer with half of the gelatin mixture and 3 tablespoons of cracker crumbs. Repeat layers of gelatin and crumbs; top with remaining oranges. Chill for 4 hours. Sprinkle with remaining crumbs.