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
        }
      }
    }
  }
}
```

props = cloudformation_json['Properties']
        name = props['Name']
        region_name = props.get('Region') or aws_stack.get_region()
        description = props.get('Description') or ''
        id = props.get('Id') or short_uid()
        return apigw_models.RestAPI(id, region_name, name, description)
    def RestAPI_get_cfn_attribute(self, attribute_name):
        if attribute_name == 'Id':
            return self.id
        if attribute_name == 'Region':
            return self.region_name
        if attribute_name == 'Name':
            return self.name
        if attribute_name == 'Description':
            return self.description
        if attribute_name == 'RootResourceId':
            for id, resource in self.resources.items():
                if resource.parent_id is None:
                    return resource.id
            return None
        raise UnformattedGetAttTemplateException()
    @classmethod
    def Deployment_create_from_cloudformation_json(cls, resource_name, cloudformation_json, region_name):