I can reproduce this with DynamoDB and S3. For example, this file as `template.json`:
```json
{
  "AWSTemplateFormatVersion": "2010-09-09",
  "Transform": "AWS::Serverless-2016-10-31",
  "Resources": {
    "S3Setup": {
      "Type": "AWS::S3::Bucket",
      "Properties": {
        "BucketName": "testbucket"
      }
    }
  }
}
```
Apply using
`awslocal cloudformation create-stack --stack-name local --template-body file://template.json` -> 200 OK
Immediately followed by
`awslocal cloudformation create-change-set --stack-name local --change-set-name nochanges --template-body file://template.json` -> Error
Errors happen if stack has multiple objects and any one has no changes, which makes it impossible to update the stack via cloudformation.

Here's a DynamoDB example for which it happens as well:
```json
{
  "AWSTemplateFormatVersion": "2010-09-09",
  "Transform": "AWS::Serverless-2016-10-31",
  "Resources": {
    "DynamoSample": {
      "Type": "AWS::DynamoDB::Table",
      "Properties": {
        "TableName": "ExampleTable",
        "AttributeDefinitions": [
          {
            "AttributeName": "name",
            "AttributeType": "S"
          }
        ],
        "KeySchema": [
          {
            "AttributeName": "name",
            "KeyType": "HASH"
          }
        ],
        "ProvisionedThroughput": {
          "ReadCapacityUnits": 1,
          "WriteCapacityUnits": 1
        }
      }
    }
  }
}
```

original_resource, new_resource_name, cloudformation_json, region_name):
        resource_name = cloudformation_json.get('Properties', {}).get('FunctionName') or new_resource_name
        return Lambda_create_from_cloudformation_json_orig(resource_name, cloudformation_json, region_name)
    if not hasattr(lambda_models.LambdaFunction, 'update_from_cloudformation_json'):
        lambda_models.LambdaFunction.update_from_cloudformation_json = Lambda_update_from_cloudformation_json
    
    def depl_delete_from_cloudformation_json(
            resource_name, resource_json, region_name):
        properties = resource_json['Properties']
        LOG.info('TODO: apigateway.Deployment.delete_from_cloudformation_json %s' % properties)
    if not hasattr(apigw_models.Deployment, 'delete_from_cloudformation_json'):
        apigw_models.Deployment.delete_from_cloudformation_json = depl_delete_from_cloudformation_json
    
    def vers_delete_from_cloudformation_json(
            resource_name, resource_json, region_name):
        properties = resource_json['Properties']
        LOG.info('TODO: apigateway.Deployment.delete_from_cloudformation_json %s' % properties)
    if not hasattr(lambda_models.LambdaVersion, 'delete_from_cloudformation_json'):
        lambda_models.LambdaVersion.delete_from_cloudformation_json = vers_delete_from_cloudformation_json
    
    @classmethod
    def RestAPI_create_from_cloudformation_json(cls, resource_name, cloudformation_json, region_name):