I’ve resolved such an error by deleting Cloud Formation and S3 bucket. https://github.com/serverless/serverless/issues/4341#issuecomment-334098876

Can you make sure that your AWS profile has a permission to access S3 in IAM Management in AWS Console?

Or just check it by aws cli creating new bucket:

$ aws s3 mb s3://my-s3-bucket-hereeee

If it still has a permission, try to create a new user that has AdministratorAccess and switch to it and try again?

You can switch AWS user by setting environment variable like this:

export AWS_PROFILE=your_new_user