If we want to build muscle fast and we want maximum growth of muscles each day then yes we should train until failure. Failure is a stage which consist of different number of reps for different person. You will reach your Failure point when you will be incapable of lifting weight according to proper technique and with full range of motion.
Reaching stage of Failure without proper technique can become the cause of injury and it is the most common mistake of beginners. They want to give their full effort but they do not care about there technique. Failure training is necessary but with proper technique if you are not hitting the correct muscle than it is no use to train until failure.
Lifting Until Failure tests both endurance and strength but if you will lift light weight until failure then there is no need to lift until failure and if you will lift heavy weight for very small number of reps then this will not give you max muscle growth. So best way is to lift normal weight for at least more than 6 reps and less than 15 reps until failure otherwise adjust your weights accordingly.
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