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
        }
      }
    }
  }
}
```

port = port or config.PORT_CLOUDFORMATION
    backend_port = DEFAULT_PORT_CLOUDFORMATION_BACKEND
    print('Starting mock CloudFormation (%s port %s)...' % (get_service_protocol(), port))
    start_proxy_for_service('cloudformation', port, backend_port, update_listener)
    if RUN_SERVER_IN_PROCESS:
        cmd = 'python "%s" cloudformation -p %s -H 0.0.0.0' % (__file__, backend_port)
        env_vars = {'PYTHONPATH': ':'.join(sys.path)}
        return do_run(cmd, asynchronous, env_vars=env_vars)
    else:
        argv = ['cloudformation', '-p', str(backend_port), '-H', '0.0.0.0']
        thread = FuncThread(start_up, argv)
        thread.start()
        return thread
def set_moto_account_ids(resource_json):
    def fix_ids(obj, **kwargs):
        if isinstance(obj, dict):
            for key, value in obj.items():
                if 'arn' in key.lower() and isinstance(value, six.string_types):
                    obj[key] = value.replace(TEST_AWS_ACCOUNT_ID, MOTO_ACCOUNT_ID)
        return obj
    return recurse_object(resource_json, fix_ids)
def get_entity_id(entity, resource_json=None):