Lambdas can only have static code (see code upload via cloudformation), so passing in DynamoDB table names/SNS topic ARNs etc is not possible. But there is a neat workaround:

Make the lambda read the stacks output.

# my-stack.json
"Outputs": {
  "World": {
    "Value": {
      "Ref": "MySnsTopic"
    }
  },
  ....
}

var AWS = require('aws-sdk');
var stack = context.invokedFunctionArn.match(/:function:(.*)-.*-.*/)[1];

exports.handler = function(event, context) {
  var cf = new AWS.CloudFormation();
  cf.describeStacks({"StackName": stack}, function(err, data){
    if (err) context.done(err, 'Error!');
    else {
      var config = {}
      data.Stacks[0].Outputs.map(function(out){ config[out.OutputKey] = out.OutputValue });
      context.succeed('hello ' + config.World)
    }
  })
};

# output
"hello arn:aws:sns:ap-northeast-1:8132302344234:my-stack-MySnSTopic-211Z1K3GAGK9"