[proofplan]
We prove the two implications separately. If an integral solution exists, then $d$ divides both terms $ax$ and $by$, so it divides their sum $c$. Conversely, if $d \mid c$, Bezout's identity provides an integral linear combination of $a$ and $b$ equal to $d$; multiplying that identity by $c/d$ produces an integral solution.
[/proofplan]
[step:Show that any integral solution forces $d$ to divide $c$]
Assume that $(x,y) \in \mathbb{Z}^2$ satisfies
\begin{align*}
ax + by = c.
\end{align*}
Since $d = \gcd(a,b)$, the integer $d$ divides both $a$ and $b$. Hence there exist $\alpha,\beta \in \mathbb{Z}$ such that
\begin{align*}
a = d\alpha
\end{align*}
and
\begin{align*}
b = d\beta.
\end{align*}
Substituting these expressions into the equation gives
\begin{align*}
c = ax + by = d\alpha x + d\beta y = d(\alpha x + \beta y).
\end{align*}
Since $\alpha x + \beta y \in \mathbb{Z}$, this proves $d \mid c$.
[/step]
[step:Use Bezout's identity to build a solution when $d$ divides $c$]
Assume conversely that $d \mid c$. By the definition of divisibility, there exists $k \in \mathbb{Z}$ such that
\begin{align*}
c = dk.
\end{align*}
By Bezout's identity (citing a result not yet in the wiki: Bezout's Identity), since $d = \gcd(a,b)$ and $(a,b) \ne (0,0)$, there exist $u,v \in \mathbb{Z}$ such that
\begin{align*}
au + bv = d.
\end{align*}
Define $x_0,y_0 \in \mathbb{Z}$ by
\begin{align*}
x_0 = uk
\end{align*}
and
\begin{align*}
y_0 = vk.
\end{align*}
Then
\begin{align*}
ax_0 + by_0 = a(uk) + b(vk) = k(au + bv) = kd = c.
\end{align*}
Thus $(x_0,y_0) \in \mathbb{Z}^2$ is a solution.
[guided]
Now assume $d \mid c$. The goal is to manufacture integers $x$ and $y$ whose linear combination with coefficients $a$ and $b$ gives $c$. The divisibility hypothesis means precisely that there is an integer multiplier $k \in \mathbb{Z}$ such that
\begin{align*}
c = dk.
\end{align*}
The missing ingredient is a way to write $d$ itself as an integral linear combination of $a$ and $b$. This is exactly Bezout's identity (citing a result not yet in the wiki: Bezout's Identity): because $d = \gcd(a,b)$ and $(a,b) \ne (0,0)$, there exist integers $u,v \in \mathbb{Z}$ satisfying
\begin{align*}
au + bv = d.
\end{align*}
Multiplying this identity by the integer $k$ gives
\begin{align*}
a(uk) + b(vk) = k(au + bv) = kd.
\end{align*}
Since $c = dk$ and integer multiplication is commutative, $kd = c$. Therefore
\begin{align*}
a(uk) + b(vk) = c.
\end{align*}
Define the candidate solution by
\begin{align*}
x_0 = uk
\end{align*}
and
\begin{align*}
y_0 = vk.
\end{align*}
Because $u,v,k \in \mathbb{Z}$ and $\mathbb{Z}$ is closed under multiplication, we have $x_0,y_0 \in \mathbb{Z}$. The displayed calculation proves
\begin{align*}
ax_0 + by_0 = c,
\end{align*}
so $(x_0,y_0) \in \mathbb{Z}^2$ is an integral solution.
[/guided]
[/step]
[step:Combine the two implications]
The first step proves that existence of an integral solution implies $d \mid c$. The second step proves that $d \mid c$ implies existence of an integral solution. Hence
\begin{align*}
\exists (x,y) \in \mathbb{Z}^2 \text{ such that } ax + by = c \iff d \mid c.
\end{align*}
This is the desired criterion.
[/step]