I think this query should be what you are after:
SELECT v.Name, m.[kickoff], team1.name, team2.name, stage
FROM Match AS m
INNER JOIN Venue AS V ON m.venue_id = v._id
INNER JOIN Team AS team1 ON m.team1_id = team1._id
INNER JOIN Team AS team2 ON m.team2_id = team2._id
I think the problem that are having with your original query is that there are actually 2 teams linked to a match but you are only accounting for one, and the last part of your query:
t._id = m.team1_id
and
t._id = m.team2_id
... will only be true if the team is playing itself.