GSTR 3B not filed from registration

Sir/Madam I have not filled GSTR 3B from the date of GST registration as I have not done any business transactions till date and its almost 2 years a sms notice came from department ordering to file all the GSTR3B returns. can i file all the the nill returns now and weather i have to pay panelty or late fees or any other charges? i have no input and outputs tax.