Hey Mike,
It would most likely be 6 machines, 3 for Nomad, 3 for Consul. The number of Consul and Nomad deployments will be different however. A single Nomad region could capture several Consul Datacenters.
It is hard to give you a number as it depends on how you use Nomad and Consul. If you heavily rely on the K/V store or you are constantly launching a large amount of batch jobs for example there will be a larger load.
Mainly you want to make sure that there is sufficient CPU, Memory, Disk and IO performance on the server nodes.
Thanks,
Alex