Role stored in main.yml
- name: Create S3 bucket
  s3_bucket:
    aws_access_key: "{{ aws_key }}"
    aws_secret_key: "{{ aws_secret }}"
    name: "{{ bucket_name }}"
    policy: "{{ lookup('template', templates/main.yml) }}"
    region: "{{ aws_region }}"
  register: aws_config_bucket

Template stored in templates folder in main.yml
{
    "Version": "2012-10-17",
    "Statement": [
        {
            "Sid": "AWSConfigBucketPermissionsCheck",
            "Effect": "Allow",
            "Principal": {
                "Service": "config.amazonaws.com"
            },
            "Action": "s3:GetBucketAcl",
            "Resource": "arn:aws:s3:::{{ bucket_name }}"
        },
        {
            "Sid": "AWSConfigBucketDelivery",
            "Effect": "Allow",
            "Principal": {
                "Service": "config.amazonaws.com"
            },
            "Action": "s3:PutObject",
            "Resource": "arn:aws:s3:::{{ bucket_name }}/AWSLogs/{{ account_number }}/Config/*",
            "Condition": {
                "StringEquals": {
                    "s3:x-amz-acl": "bucket-owner-full-control"
                }
            }
        }
    ]
}