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When the verb falta is used with an indirect object, it is translated as 'need' because of one's 'lack' of it.
nos falta (we need, because we lack) una blusa
In 'nos hace falta', the verb is hacer falta. When there's an indirect object, this is translated as 'somebody needs something'.
So, there is no difference in translation between 'nos falta algo' and 'nos hace falta algo'.
When faltar is not used with an indirect object, it is translated as 'missing'.
Faltamos una blusa. (We are missing a blouse.)
Other than the emphasis you're giving the subject, there's no difference between 'faltamos' and 'nosotros faltamos'.
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